Analysis Of A Decoupled 2-D Of Spherical Parallel Mechanism

Since the 1990s, parallel robots have been utilized increasingly widely in flight simulators, docking of space stations, microoperations, CNC machine tools, recreation facilities etc for high stiffness, high speed, low inertia and other advantages. Research in this field is valuable not only in practice but also in theory. This paper concentrates on studies of accuracy and dynamics of a novel decoupled spherical parallel mechanism.As a technical hard nut, the precision problem of parallel mechanisms always constraints their industrialization. Firstly, based on the loop-gain method an error model of position and pose is presented in this paper, which provides a foundation for further compensation. Then velocity and acceleration errors are studied too.Kinetic model underlying control and dynamic analysis occupies an important position in studies. After selecting joint variables as generalized coordinates, the Kane's equation with Lagrange multipliers for the mechanism is constructed in the following part, which not only contains both normal and inverse dynamic solutions , but also could furnish valuable information to dynamics error reseach on the mechanism with clearance.