Based on a Method for Analyzing the Rotational Capacity of 1T2R Parallel Mechanism
The working space and rotational capacity of a parallel mechanism is an important index for evaluating its working capacity,and most of the parallel mechanisms are studied in the coupled state.Taking the three-degrees-of-freedom 2-SPS/PRR parallel mechanism as an example,the rotational capacity of the parallel mechanism is analyzed in the coupled state and decoupled state respectively.Based on the azimuthal feature set theory,the azimuthal feature set analysis of the mechanism is carried out,and based on the closed volume method,the kinematic analysis of the mechanism is carried out to solve the position inverse solution of the mechanism;based on the kinematic inverse solution of the parallel mechanism,the rotational capacity is analyzed under the coupled and decoupled states using the limit boundary search method and the two are compared to each other to achieve the mutual conversion.A new method is proposed to solve the rotational capacity of a point in the workspace under the coupled state.
parallel mechanismworkspacerotational abilitydecoupled stateposition and orientation characteristic
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