Study on Hooke Joint and Its Application in 6-HTRT Parallel Robot

Hooke Joint ,as a kind of joint mechanism, which can supply two DOF revolution, has found a wide application in mechanisms of various style parallel robots. In this paper,working principle and workspace of Hooke Joint are studied and simulated. Using the results of the study and simulation in optimal dimensional synthesis of the assembly angles of Hooke Joint in mechanism of parallel robot, we get a workspace possessing large volume not restricted by the limits of the cone angles of Hooke Joint. Simultaneously, we get a more concise algorithm of Inverse Position of 6-HTRT Parallel Robot, which resulted in more simple motion control algorithm, and higher mechanical performance.