spherical mechanism

Based on the screw theory, the kinematics characteristics of a kind of 2-DOF five-bar spherical parallel mechanism are analyzed including the kinematics screw, reverse screw, degree of freedom, the forward and inverse solution equations and the first order influence coefficient matrix.

应用螺旋理论分析一种二自由度球形五杆并联机构的运动螺旋及其反螺旋，在此基础上分析了其自由度。建立其位置正、反解方程，并进行验证。

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The effect of assemble errors on the transmission error of the spherical gear mechanism is analyzed and simulated.

分析研究了安装误差对球齿轮机构传动误差的影响。

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The solving method to{ψ m} max and{Φ 0} min 、{Φ 0 ′} min presented in this paper possesses certain guiding significance to the analysis and design of spherical cam mechanism.

本文给出了{Ψm}max和{Φ0}min、{Φ0′}min的求解方法，对球面凸轮机构的分析与设计具有一定的指导意义。

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Finally, take a kind of two-looped spherical mechanism with a single degree of freedom as an example the condition of complete balance of its swinging force was derived.

最后以一种单自由度两环球面机构为例，导出了其摆动力完全平衡条件。

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A 2-DOF ( Degree-Of-Freedom) parallel translational mechanism and a 2-DOF spherical five-bar mechanism are used to realize the translational and rotational degree of freedom of the PMT and a new type synthesis of a new typed five-axis hybrid machine tool is given.

采用一种二自由度并联平动机构和球面五杆机构分别实现并联机床的平动与转动自由度，提出了一种新型五轴混联机床的新构型。

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Spherical Mechanism Analysis Based on Virtual Reality

基于虚拟现实的球形机构分析

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Kinematic analysis and verification on the decoupled spherical rotating parallel mechanism

解耦球面转动并联机构的运动分析与验证

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The S~ r joint is a 3-DOF spherical mechanism, considered as a composite spherical joint, R is the revolute joint and U is the universal joint.

其中S为3自由度球面机构，为复合球铰，R为转动副，U为虎克铰。

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The forward position, the reverse position, the velocity and the acceleration of a 3-RRR spherical parallel mechanism are analyzed, the solutions of which and corresponding numerical examples are given.

分析了一种3-RRR球面并联机构的位置正解、位置反解、速度、加速度，推导出了位置正解、位置反解、速度、加速度方程，并进行了数值验证。

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This paper introduces a new online method to measure the dimension of large forgings, which uses the pulsed laser ranging sensor with a2-DOF parallel spherical mechanism.

介绍了使用激光测距传感器配合球面二自由度并联机构测量大锻件尺寸的方法。

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Engagement equation and curvature analysis of spherical indexing cam mechanism

球面空间分度凸轮机构的啮合方程与曲率分析

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The formulas which can compute the position for coupler point, real size and installing dimensions of the spherical four-bar mechanism is deduced.

推导出计算机构的实际尺寸、连杆上点的位置和机构安装参数的理论计算公式。

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A general talk about total station apparatus triangulated height measurement ANALYTICAL SYNTHESIS OF 3-DOF SPHERICAL PARALLEL MECHANISM HAVING EQUAL APEX ANGLES

浅谈全站仪三角高程测量等顶锥角3自由度球面并联机构的全参数解析尺度综合

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Stiffness Analysis of Spherical Parallel Mechanism 3-RRR with 3-DOF

3-RRR3自由度球面并联机构静刚度分析

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Force control of a spherical parallel mechanism actuated by pneumatic muscle actuators is studied, including the analysis of static force relationship, force control strategy and algorithm.

分析了具有柔索冗余驱动特点的静力关系，研究了力控制的智能控制算法及策略，在建立的实验样机上达到了良好的力伺服性能。

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This text synopsis elaborated to use the Pro/ E to realize the involute spherical gear mechanism ′ s accurated modeling and kinetics simulation.

阐述用Pro/E实现渐开线球齿轮机构的精确三维造型方法，并对球齿轮机构进行运动学仿真。

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Transformation from Spatial RSSR Mechanism to Spherical 4R Mechanism

空间RSSR机构向球面4R机构的转化

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A new method on Synthesis of spherical mechanism

球面四杆机构综合的新方法&单位矢法

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Analysis of Spherical Mechanism through Quaternion Transformation

四元数变换分析球面机构

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Study on engagement features for a newtype spherical indexing cam mechanism

新型球面空间分度凸轮机构啮合特性的研究

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The result of research indicate that the calculating formula of degree of freedom of space mechanism will be set up if the calculating formula of degree of freedom of plane and spherical surface mechanism are changed a little.

研究结果表明：只要对平面、球面机构自由度的计算公式稍加变化，推导出空间机构求自由度的新公式。

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Study on the decoupling conditions of the spherical parallel mechanism based on the criterion for topologically decoupled parallel mechanisms

基于拓扑解耦准则的球面并联机构解耦条件研究

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The easy and correct theoretical calculating formula is provided for calculating degree of freedom of planar and spherical mechanism.

为计算平面、球面机构与结构自由度提供了更为方便快捷正确的理论计算式。

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Firstly, this text made the kinematic analysis of the spherical gear mechanism and the flexible manipulator based on the spherical gear mechanism by the method of space displacement matrix, and obtain the kinematics rule-kinematics equation.

本文首先运用空间位移矩阵法对球齿轮机构和基于球齿轮机构的机械手进行运动分析，得出运动学规律，即运动学方程。

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A Kinetic Analysis of 3-DOF Decoupled Spherical Parallel Mechanism Used for the Wrist Joint

一种用于腕关节的球面三自由度并联解耦机构位置分析

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The forward and inverse position problems of the 2-DOF and 3-DOF parallel spherical mechanism are studied.

回顾了并联机构位置正反解研究的数学基础，研究了2-DOF和3-DOF球面并联机构位置正反解问题；

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This paper present a new approach which uses virtual reality ( VR) to design spherical mechanism. VR is a new design interface, which can provide a three dimensional design space.

利用虚拟现实的方法来设计球形机构，并把VR作为一种全新的设计接口，可在三维空间中实现球形机构的设计和论证。

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The principle of outside installation mechanism in laser tracking measurement system is introduced and a spherical mechanism method is adopted to design the 2D tracking circumrotatory mechanism according thedevelopment of laser tracking measurement system in global.

作者根据国内外激光跟踪测量系统发展情况，介绍了外置式激光跟踪测距系统的原理，采用球形跟踪伺服装置的设计思想，设计了两维旋转跟踪伺服装置。

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Spherical gear mechanism is a new type of gear which can transfer two-dimensional overall motion.

球齿轮机构是一种能传递空间二维运动的新型齿轮机构。

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Involute spherical gear mechanism ′ s modeling and kinetics simulation

渐开线球齿轮机构造型及其运动学仿真

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