Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism

Current research on spherical parallel mechanisms(SPMs)mainly focus on surgical robots,exoskeleton robots,entertainment equipment,and other fields.However,compared with the SPM,the structure types and research contents of the SPM are not abundant enough.In this paper,a novel two-degree-of-freedom(2DOF)SPM with symmetrical structure is proposed and analyzed.First,the models of forward kinematics and inverse kinematics are established based on D-H parameters,and the Jacobian matrix of the mechanism is obtained and verified.Second,the workspace of the mechanism is obtained according to inverse kinematics and link interference conditions.Next,rotational characteristics analysis shows that the end effector can achieve continuous rotation about an axis located in the mid-plane and passing through the rotation center of the mechanism.Moreover,the rotational characteristics of the mechanism are proved,and motion planning is carried out.A numerical example is given to verify the kinematics analysis and motion planning.Finally,some variant mechanisms can be synthesized.This work lays the foundation for the motion control and practical application of this 2DOF SPM.