Velocity Performance Analysis of a Novel 2-DOF Fully-Decoupled Spherical Parallel Mechanism

摘要

In this paper, the spatial model of a novel 2-DOF spherical parallel mechanism named as RRu00026;IILR is established by employing the non-dimensional method to design mechanisms. The method of describing the performance indexes of velocity is given. Also, a novel method to describe the mechanismȁ9;s velocity performances by using the mean value of performance indexes and its fluctuation is proposed. And the atlases of velocity performance are drawn in the form of contour series. In addition, the effective ranges of the non-dimensionally designed linkage length are determined under different requirements for velocity performance indexes. This study will pave a way for the application of this kind of mechanism.