Abstract Current research on spherical parallel mechanisms (SPMs) mainly focus on surgical robots, exoskeleton robots, entertainment equipment, and other fields. However, compared with the SPM, the structure types and research contents of the SPM are not abundant enough. In this paper, a novel two-degree-of-freedom (2DOF) SPM with symmetrical structure is proposed and analyzed. First, the models of forward kinematics and inverse kinematics are established based on D-H parameters, and the Jacobian matrix of the mechanism is obtained and verified. Second, the workspace of the mechanism is obtained according to inverse kinematics and link interference conditions. Next, rotational characteristics analysis shows that the end effector can achieve continuous rotation about an axis located in the mid-plane and passing through the rotation center of the mechanism. Moreover, the rotational characteristics of the mechanism are proved, and motion planning is carried out. A numerical example is given to verify the kinematics analysis and motion planning. Finally, some variant mechanisms can be synthesized. This work lays the foundation for the motion control and practical application of this 2DOF SPM. 

/pdf/motion-characteristics-analysis-of-a-novel-spherical-two-1vw55wni.pdf

Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism

The research subject of this paper is spherical 2-DOF parallel manipulator with actuation redundancy, based on kinematic analysis of the manipulator, the inverse dynamic model of the manipulator was established by virtue of Lagrange method. Because end-effector of the manipulator possess 2-DOF, but corresponding 3 driving input, so driving moment of the manipulator has infinite group value in theory, resulting in that assignment of driving moment is non-unique, in this paper, driving moment was optimized by force optimization method and energy consumption optimization method. And via numerical calculating example, comparing the driving moment curve obtained by two methods, we proved that performance of the manipulator was improved because of importing redundant drive, which provide theoretical foundation for establishing control model.

Dynamic analysis of spherical 2-DOF parallel manipulator with actuation redundancy

Spherical plain bearing plays a significant role in the national defense military, aerospace, robotics and other cutting-edge fields. Running-in test should be conducted prior to use which can significantly reduce friction coefficient, minimize torque ripple, improve reliability and increase lifecycle. Based on the requirement for spherical plain bearing running-in equipment, this paper conducts the feasibility analysis of application of spherical 5R parallel mechanism in spherical plain bearing running-in equipment. According to the geometric constraint conditions, a simple kinematic model is derived. Then the dynamic model is established based on the Lagrange method. Combining with a specific prototype, the reachable workspace and kinematic characteristics are analyzed, and the effective inertia varying with the configurations of mechanism is also discussed. Finally, dynamic simulation is implemented to verify the correctness of the dynamic model by using ADAMS software. The derived model can provide theoretical basis in dynamic optimal design, driving unit lectotype and control model establishment.

Dynamic Modeling of Spherical 5R Parallel Mechanism for Spherical Plain Bearing Running-in Equipment


 In this paper, a novel two-degree-of-freedom (2DOF) spherical parallel mechanism(SPM) with symmetrical structure is proposed and analyzed. First, the models of forward kinematics and inverse kinematics are established based on D-H parameters, and the Jacobian matrix of the mechanism is obtained and verified. Second, the workspace of the mechanism is obtained according to inverse kinematics and link interference conditions. Next, rotational characteristics analysis shows that the end effector can achieve continuous rotation about an axis located in the mid-plane and passing through the rotation center of the mechanism. Moreover, the rotational characteristics of the mechanism are proved and motion planning is carried out. A numerical example is given to verify the kinematics analysis and motion planning. Finally, some variant mechanisms can be synthesized. This work lays the foundation for the motion control and practical application of this 2DOF SPM.

/pdf/motion-characteristics-analysis-of-a-novel-spherical-two-3d41r06ipd.pdf

The research subject of this paper is spherical 5R parallel manipulator, on the basis of analysis of kinematics of the manipulator, the dynamic model of the manipulator was established by virtue of Lagrange method, and via numerical calculating example, the dynamic model of the manipulator was simulated by two software Matlab and ADAMS, by comparing the results obtained by two software, we proved that the dynamic model of the spherical 5R parallel manipulator is right, which provide theoretical foundation for manufacturing sample.

Dynamic analysis of spherical 5R parallel manipulator

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Dynamic analysis of spherical 5R parallel manipulator