Abstract
The two-rotational-degrees-of-freedom (2R) parallel mechanism (PM) with two continuous rotational axes (CRAs) has a simple kinematic model. Therefore, it is easy to implement trajectory planning, parameter calibration, and motion control, which allows for a very variety of application prospects. Aiming at three different structural forms of a kind of 2R-PM with two CRAs (2UPS-RR mechanism), comparative analyses on motion decoupling were carried out in this paper, the results showed that two rotational degrees of freedom are completely decoupled for a structural form of the studied mechanism, and the regular features that make it be completely decoupled were also summarized.
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Acknowledgments
This research was sponsored by the National Natural Science Foundation of China under Grant 51405425 and 51275439.
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Xu, Y., Chen, L., Yan, W., Yao, J., Zhao, Y. (2016). Motion Decoupling Analysis of a Kind of 2R Parallel Mechanism with Two Continuous Rotational Axes. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_27
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DOI: https://doi.org/10.1007/978-3-319-23327-7_27
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