Full-isotropic spherical three-DOF parallel mechanism

Fan Zhang; Jianguo Yang; Beizhi Li; Dan Zhang

Full-isotropic spherical three-DOF parallel mechanism

Fan Zhang
, Jianguo Yang
, Beizhi Li
, Dan Zhang

Research output: Journal article publication › Journal article › Academic research › peer-review

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

Cite this

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title = "Full-isotropic spherical three-DOF parallel mechanism",

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.",

keywords = "Decoupled motion, Full-isotropic, Jacobian matrix, Parallel mechanism",

author = "Fan Zhang and Jianguo Yang and Beizhi Li and Dan Zhang",

year = "2008",

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T1 - Full-isotropic spherical three-DOF parallel mechanism

AU - Zhang, Fan

AU - Yang, Jianguo

AU - Li, Beizhi

AU - Zhang, Dan

PY - 2008/7/10

Y1 - 2008/7/10

N2 - 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.

AB - 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.

KW - Decoupled motion

KW - Full-isotropic

KW - Jacobian matrix

KW - Parallel mechanism

UR - https://www.scopus.com/pages/publications/48549094021

M3 - Journal article

AN - SCOPUS:48549094021

SN - 1004-132X

VL - 19

SP - 1552

EP - 1555

JO - Zhongguo Jixie Gongcheng/China Mechanical Engineering

JF - Zhongguo Jixie Gongcheng/China Mechanical Engineering

IS - 13

ER -

Full-isotropic spherical three-DOF parallel mechanism

Abstract

Keywords

ASJC Scopus subject areas

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