Research Of A New 2-DOF Parallel Mechanism With Hemisphere Workspace

In this dissertation, a new fully decoupled parallel 2-DOF spherical mechanism is presented and studied in many fields, such as structure, kinematics, statics, workspace, physical model of the solution space and so on. Finally,1. The research and applications of parallel mechanisms synthesis are reviewed. Principles to construct kinematic chains of parallel manipulators are proposed. Using these method, a new fully decoupled parallel 2-DOF spherical mechanisms is constructed.2. The forward and inverse position problems of the 2-DOF parallel spherical mechanism are studied. We get the analytic expression of the inverse jacobian matrix'', the expression is the foundation of the research in many performance indexes. J ?13. The physical model of the solution space are established and that grounds the foundation for the optimum design.4. The kinematics transmission isotropic indices, the mechanics transmission isotropic indices, the kinematics transmission indices, load-bearing capability indices etc. has been put forward. And the index atlases are presented.5. Finally,the geometry model of the parallel 2-DOF spherical mechanism was founded by calling the functions of OpenGL in the environment of the Microsoft Visual C++. The graphic simulation software of the mechanism is compiled, it will provide a useful tool for designing and manufacturing of the mechanism.