2-DOF仿生并联驱动机构分析

he 2-DOF parallel platform can greatly enhance the traditional platform pointing capability under heavy load and large workspace conditions, and expand the application of parallel platforms in bionic research field because of the particularity of movement pattern. Omni-Wrist III is a quasi-sphere motion 2-DOF parallel platform has symmetric structure and large workspace. The geometric constraint equations of this mechanism are established based on the particularity of the geometric structure, the detailed compact kinematics model of moving platform and four legs are derived. The derived model will be useful to improve the design of the mechanical components, the control algorithm of this manipulator.