Kinematic analysis of a novel uncoupled and isotropic 2-degree-of-freedom parallel mechanism:

摘要

A novel uncoupled and isotropic 2-degree-of-freedom parallel mechanism is presented in this article. The parallel mechanism consists of two kinematic chains: R-4R-R kinematic structure and R-R-P-R-R kinematic structure. The x-axis and y-axis projective angles of the output linkages can be actuated by the corresponding motor mounted on the fixed base. Forward kinematic, inverse kinematic, uncoupled, and isotropic characteristics of the parallel mechanism are analyzed. Singularity analysis and workspace analysis are achieved. The uncoupled and isotropic architecture of the parallel mechanism has some merits such as the larger workspace, a simple mathematical treatment, an easy control, high stiffness, and dexterity. The parallel mechanism can be applied in fields that require aiming at subjects, such as the use of machining tools, radar scanners, telescopes, cameras, satellite solar arrays, the human wrist, and minimally invasive surgery.