HEMISPHERE, a Fully Decoupled Parallel 2-DOF Spherical Mechanism
نویسندگان
چکیده
This paper presents a fully decoupled parallel 2-DOF spherical mechanism, named HEMISPHERE. First, the design idea is introduced based on a general 2-DOF spherical mechanism. Then, a practical architecture is presented, which employs only two kinds of 1-DOF kinematic pairs: revolute joint and prismatic pair. Next, following the discussion about the limitation from the friction circle of the revolute joint, the modified mechanisms are given, which can provide a hemisphere workspace. Key-Words: HEMISPHERE, Decoupled, Spherical mechanism, Friction circle, Workspace
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