Topological Synthesis of a Parallel Wrist Mechanism

[+] Author and Article Information
Tarcisio A. Hess-Coelho

Department of Mechatronics and Mechanical Systems Engineering, Polytechnic School, University of Sao Paulo, Av. Prof. Mello Moraes, 2331, São Paulo, SP 05508-900 Braziltarcisio.coelho@poli.usp.br

J. Mech. Des 128(1), 230-235 (May 05, 2005) (6 pages) doi:10.1115/1.2121742 History: Received June 21, 2004; Revised May 01, 2005; Accepted May 05, 2005

To determine a suitable kinematic structure for a specific application is a complex task. Some available methods may provide a list of possible architectures for a robot wrist. However, a systematic method for selecting one among others is still an open problem. The paper presents a qualitative procedure for topological synthesis based on criteria that consider wrist design requirements and parallel mechanism peculiarities. The performance of chosen topology is evaluated according to desired requirements.

Copyright © 2006 by American Society of Mechanical Engineers
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Figure 1

Possible architectures: (a) 3ṞRR, (b) (3ṞRR)∧Ṟ, (c) 3ṞRR+ṞUR, (d) 3UP̱U, (e) 3ṞUU, (f) (3ṞUU)∧Ṟ, (g) 3ṞRS, (h) (3RP̱S)∧Ṟ, (i) 3RP̱S+ṞUPR, obtained from the method of enumeration active limbs; (j) 3ṞUS+S, (k) (3ṞUS+S)∧Ṟ, (l) 3ṞUS+UR, (m) 3ṞUS+ṞUR, generated using the addition of passive limb method; (n) 3ṞRR+S, (o) 4SP̱S+S, other architectures extracted from literature.

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Figure 2

Architectures ranked according to their performance indices

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Figure 3

Singularities of RRR limb

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Figure 4

Singularities of RUR limb

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Figure 5

Available workspace: A portion of a sphere of 140-deg cone



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