Design and Analysis of a Kind of Low Coupling 2T2R Parallel Mechanism

Abstract

Aiming at the complicated structure,difficult position analysis,strong coupling and hard to control of tradition parallel mechanism,a new type of low coupling 2 T2 R parallel mechanism is designed. First of all,the new 2 T2 R mechanism is analyzed for the kinematics based on position and orientation characteristics（ POC） set theory. Then,in order to minimize the kinematics equation dimensions,using a single open chain theory to break down the mechanism and build the location analysis model. Finally,analysis and verification with specific examples is conducted. The results show that the mechanism is four degrees of freedom,the mobile platform can achieve two translation and two rotation. The structure is low degree of coupling,having motion input-output partially of the decoupling makes the position equation of this mechanism simple,and the equation can be solved analytically.

Keywords

• 2T2R parallel mechanism;Partially decoupled;Position and orientation characteristic set;Location analysis