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In this paper, the spatial model of a novel 2-DOF spherical parallel mechanism named as RR&IILR is established by employing the non-dimensional method to design mechanisms. The method of describing the performance indexes of velocity is given. Also, a novel method to describe the mechanism's velocity performances by using the mean value of performance indexes and its fluctuation is proposed. And...
This paper presents the prototype of the 6-dof parallel seismic simulator developed by Shanghai Jiao Tong University. Inverse kinematics analysis is carried out by the simulation. In the prototype building, the novel redundant actuation is adopted. The contribution of the novel redundantly actuated interface is that it makes possible for the motors to drive a much large load and expand the age of...
A 2-DOF (degree of freedom) decoupled spherical parallel mechanism is presented. The mechanism's configuration characteristic are studied and summarized. Its branch-chains are different completely, one is a 1/4 circular branch-chain, the other is a 7R+ R branch-chain, and each branch-chain can only control one rotational direction of the movable platform. Furthermore, in order to verify the mechanism's...
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