摘要 : This paper presents a novel decoupled parallel 2-DOF spherical mechanism. First, the design idea is introduced based on a general 2-DOF spherical mechanism. Next, following the discussions of some practical types of flat pairs, th... 展开 This paper presents a novel decoupled parallel 2-DOF spherical mechanism. First, the design idea is introduced based on a general 2-DOF spherical mechanism. Next, following the discussions of some practical types of flat pairs, the new mechanism is given. Besides, the new mechanism uses a planar parallelogram to replace the prismatic pair to achieve the simple kinematics of one-to-one input-output mapping with minimum requirement on actuators. The workspace of the mechanism is also analyzed, in which the effect of friction circle of the revolute joint is considered. 收起