Abstract
A new full-isotropic spherical three-DOF parallel mechanism was presented herein. This manipulator had decoupled rotational motion around x, y and z axes and employed only revolute joints. Based on the physical meaning of the cow vector of Jacobian matrix, the necessary and sufficient condition to synthesis full-isotropic parallel mechanism was obtained. Finally, an over-constraint spherical three-DOF parallel mechanism is obtained and a modified structure is also introduced to avoid the redundant constraints.
| Original language | English |
|---|---|
| Pages (from-to) | 1552-1555 |
| Number of pages | 4 |
| Journal | Zhongguo Jixie Gongcheng/China Mechanical Engineering |
| Volume | 19 |
| Issue number | 13 |
| Publication status | Published - 10 Jul 2008 |
| Externally published | Yes |
Keywords
- Decoupled motion
- Full-isotropic
- Jacobian matrix
- Parallel mechanism
ASJC Scopus subject areas
- Mechanical Engineering