بحث بعنوان Modeling and Analysis of a 2-DOF Spherical Parallel Manipulator

بحث بعنوان Modeling and Analysis of a 2-DOF Spherical Parallel Manipulator
اسم المؤلف
Xuechao Duan, Yongzhi Yang and Bi Cheng
التاريخ
6 أكتوبر 2021
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بحث بعنوان
Modeling and Analysis of a 2-DOF Spherical Parallel Manipulator
Xuechao Duan, Yongzhi Yang and Bi Cheng
1 Key Laboratory of Electronic Equipment Structure Design, Ministry of Education of China,
Xidian University, Xi’an 710126, China; [email protected] (Y.Y.); [email protected] (B.C.)
2 Collaborative Innovation Center of Information Sensing and Understanding, Xidian University,
Xi’an 710126, China

  • Correspondence: [email protected]; Tel.: +86-29-8820-3040
    Academic Editor: Dan Zhang
    Received: 30 June 2016; Accepted: 8 September 2016; Published: 13 September 2016
    Abstract: The kinematics of a two rotational degrees-of-freedom (DOF) spherical parallel manipulator
    (SPM) is developed based on the coordinate transformation approach and the cosine rule of a trihedral
    angle. The angular displacement, angular velocity, and angular acceleration between the actuators
    and end-effector are thus determined. Moreover, the dynamic model of the 2-DOF SPM is established
    by using the virtual work principle and the first-order influence coefficient matrix of the manipulator.
    Eventually, a typical motion plan and simulations are carried out, and the actuating torque needed
    for these motions are worked out by employing the derived inverse dynamic equations. In addition,
    an analysis of the mechanical characteristics of the parallel manipulator is made. This study lays
    a solid base for the control of the 2-DOF SPM, and also provides the possibility of using this kind of
    spherical manipulator as a 2-DOF orientation, angular velocity, or even torque sensor.
    Keywords: spherical parallel manipulator; kinematics; virtual work principle; dynamics
    Conclusions
    The kinematics of a 2-DOF SPM was elaborated based on the coordinate transformation approach
    and cosine rule of a trihedral angle. Moreover, the angular displacement, angular velocity, and angular
    acceleration relation between the actuators and the end-effector were determined. The dynamic
    model of the parallel manipulator were established by employing the virtual work principle and the
    first-order influence coefficient matrix of the manipulator. Finally, typical numerical simulations of
    the 2-DOF SPM reveal the quantitative relation between the input and output in terms of angular
    displacement, angular velocity, and acceleration. This preliminary result lays the foundation for better
    planning motion and control of the 2-DOF SPM, and also provides the fundamental verification of the
    possibility of using this kind of spherical mechanism as 2-DOF orientation or torque sensors.

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