TY - GEN
T1 - Novel design and analysis of a fully decoupled 3-DOF spherical parallel robot
AU - Zhang, Dan
AU - Zhang, Fan
PY - 2010
Y1 - 2010
N2 - In this paper, we propose a unique, decoupled Three Degree-of-Freedom (DOF) parallel wrist. The condition required for synthesizing a fully isotropic parallel mechanism is obtained based on the physical meaning of the row vector in the Jacobian Matrix. Specifically, an over-constrained spherical 3-DOF parallel mechanism is presented and the modified structure, which avoids the redundant constraints, is also introduced. The proposed manipulator is capable of decoupled rotational motions around the x, y and z axes and contains an output angle that is equal to the input angle. Since this device is analyzed with the Jacobian Matrix, which is constant, the mechanism is free of singularity and maintains homogenous stiffness over the entire workspace.
AB - In this paper, we propose a unique, decoupled Three Degree-of-Freedom (DOF) parallel wrist. The condition required for synthesizing a fully isotropic parallel mechanism is obtained based on the physical meaning of the row vector in the Jacobian Matrix. Specifically, an over-constrained spherical 3-DOF parallel mechanism is presented and the modified structure, which avoids the redundant constraints, is also introduced. The proposed manipulator is capable of decoupled rotational motions around the x, y and z axes and contains an output angle that is equal to the input angle. Since this device is analyzed with the Jacobian Matrix, which is constant, the mechanism is free of singularity and maintains homogenous stiffness over the entire workspace.
UR - http://www.scopus.com/inward/record.url?scp=77954259692&partnerID=8YFLogxK
U2 - 10.1115/IMECE2009-10098
DO - 10.1115/IMECE2009-10098
M3 - Conference article published in proceeding or book
AN - SCOPUS:77954259692
SN - 9780791843833
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings
SP - 1
EP - 6
BT - Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009
PB - American Society of Mechanical Engineers(ASME)
T2 - ASME 2009 International Mechanical Engineering Congress and Exposition, IMECE2009
Y2 - 13 November 2009 through 19 November 2009
ER -