Kinematic analysis of a new five-bar spherical decoupled mechanism with two-degrees of freedom remote center of motion

Terence Essomba, Linh Nguyen Vu

Research output: Contribution to journalArticlepeer-review

15 Scopus citations

Abstract

A new Spherical Decoupled Mechanism is presented in this paper. It can be consider as a new 5-bar spherical linkage or as a parallel mechanism. Indeed, a platform connected to a base by the mean of two serial spherical arms. Its new specific characteristics allow generating a Remote Center of Motion of two angular decoupled Degrees of Freedom. The decoupled motion is proven by its kinematic and velocity models. Both models are simpler than most of the decoupled mechanisms reported in the literature. Their analysis demonstrate a very simple control. It also provides the suppression of the parallel singularity inside its workspace that the original five-bar spherical linkage suffers from and its operational workspace is consequently larger. Its kinematic performance is also improved for the same linkage sizes. Moreover, this new mechanism concept appears to be very simple both in terms of kinematics compared to the original five-bar spherical linkage and in terms of design, compared to other decoupled mechanisms. A mechanism prototype is manufactured to validate the kinematic concept.

Original languageEnglish
Pages (from-to)184-197
Number of pages14
JournalMechanism and Machine Theory
Volume119
DOIs
StatePublished - Jan 2018

Keywords

  • Decoupled mechanism
  • Five-bar linkage
  • Kinematic analysis
  • Remote center-of-motion
  • Spherical parallel mechanism

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