Synthesis of Two-Degree-of-Freedom Rotational Decoupled Manipulators of a 2R-Type Branch

Abstract:

Strong coupling is one of the prominent features of the general parallel mechanisms(Par. Mec.), which has led to difficulty in the trajectory planning and precision control. To solve this problem, the designing of motion decoupled parallel mechanisms(Dec. Par. Mec.) has become a hot topic. This paper, based on the work achieved in our pre-papers, is to make an improvement on the criterion for a branch type synthesis of the rotational decoupled parallel mechanisms(Rot. Dec. Par. Mec.), which ensures the decoupling of the rotations in each limb. This paper focuses on a type synthesis of the decoupled parallel mechanisms with two degree of freedoms (DOFs). Decoupled parallel manipulators with two parallel kinematic chains, one of which is of type 2R(R represents rotation), are taken into consideration in this paper. A large number of novel decoupled architectures are already obtained, some of which have got an application for a China Patent. What has been done in this paper is carried out by means of the screw theory, which has effectively avoided complex equations by synthesis.

• Periodical: Applied Mechanics and Materials (Volumes 284-287)
• Pages: 1929-1935
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.284-287.1929
• Online since: January 2013
• Authors: Da Xing Zeng, Wen Juan Lu, Li Jie Zhang, Yi Tong Zhang
• Keywords: Decoupled Parallel Mechanisms, Linear Combination, Screw Theory, Type Synthesis

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