The Nonexistence of Three Degrees of Freedom Rotational Fully Decoupled Parallel Mechanism

Yu Lei Hou; Da Xing Zeng; Yan Bin Duan; Yong Sheng Zhao

doi:10.4028/www.scientific.net/AMM.284-287.1951

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 284-287The Nonexistence of Three Degrees of Freedom...

The Nonexistence of Three Degrees of Freedom Rotational Fully Decoupled Parallel Mechanism

Abstract:

The existence of coupling makes the parallel mechanism possess some special advantages over the serial mechanism, while it is just the coupling that brings about the parallel mechanism some difficulties in kinematics and dynamic analysis, the development of control system, and the trajectory planning. Therefore the research on the decoupled parallel mechanism becomes one of the hot of the mechanism fields. While whether the parallel mechanism can realize decouple is the premise for synthesis and analysis of the parallel mechanism. Based on screw theory, the existence of the three degrees of freedom (3-DoF) rotational fully-decoupled parallel mechanism is distinguished. Then taking the 6-PUS/UPU parallel mechanism as example, the rotation angles of the moving platform are measured, which is verified the impossibility of the 3-DoF rotation decoupling. The contents of this paper should possess theoretical significance for the innovative configuration synthesis and structure design of rotational decoupled parallel mechanism.

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Periodical:

Applied Mechanics and Materials (Volumes 284-287)

Pages:

1951-1955

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.284-287.1951

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Online since:

January 2013

Authors:

Yu Lei Hou, Da Xing Zeng, Yan Bin Duan, Yong Sheng Zhao

Keywords:

Fully-Decouple, Parallel Mechanism, Rotation, Screw Theory

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