Kinematics of a parallel mechanism for the generation of spherical motions

被引：0

作者：

Callegari, M ^{[1
]}

Marzetti, P ^{[1
]}

Olivieri, B ^{[1
]}

机构：

[1] Polytech Univ Marche, Dept Mech, I-60131 Ancona, Italy

来源：

ON ADVANCES IN ROBOT KINEMATICS | 2004年

关键词：

Spherical Parallel Machine (SPM); kinematics; singularities; wrists; 3-CPU;

D O I：

暂无

中图分类号：

O1 [数学];

学科分类号：

0701 ; 070101 ;

摘要：

The paper presents the concept of a novel spherical mechanism based on the 3-CPU topology and its main geometrical parameters are evidenced. Both IPA and DPA have been solved in closed-form and a mobility analysis revealed the possible occurrence of constraint singularities allowing for translational motions. Jacobian analysis has been developed as well, with the discussion of all the singular configurations for the rotational motions. The results of the analysis suggest the possible utilisation of this mechanical architecture for the development of spherical wrists for automated machines or for parallel pointing systems.

引用

页码：449 / 458

页数：10

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