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Journal of Mechanical Design | Volume 129 | Issue 8 | Technical Brief
TECHNICAL BRIEFS

A Redundant Parallel Spherical Mechanism for Robotic Wrist Applications

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

Department of Mechatronics and Mechanical Systems Engineering, Polytechnic School, University of Sao Paulo, Avenue Prof. Mello Moraes 2231, Sao Paulo, SP 05508-900, Braziltarcisio.coelho@poli.usp.br

J. Mech. Des 129(8), 891-895 (Sep 05, 2006) (5 pages) doi:10.1115/1.2735645 History: Received October 11, 2005; Revised September 05, 2006
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Parallel kinematic structures constitute promising alternative architectures, when compared to their serial counterparts, for developing positioning and orienting robotic mechanisms. The present author, in a previous work, proposed a qualitative procedure that enables the designer to compare kinematic structures from a group of candidates for robotic wrist applications. Among one of the architectures recommended by the method—the 3 RRR+RUR—is theoretically analyzed here, so its kinematic performance is evaluated. In order to verify the theoretical results, a prototype of the kinematic parallel structure considered is tested and its behavior is observed under operating conditions.
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Copyright © 2007 by American Society of Mechanical Engineers
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Figures

Grahic Jump Location
+Singularities for RRR limb: (a) first type; and (b) second type
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Singularities for RRR limb: (a) first type; and (b) second type
Figure 5

Singularities for RRR limb: (a) first type; and (b) second type

Grahic Jump Location
+Singularities for RUR limb
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Singularities for RUR limb
Figure 6

Singularities for RUR limb

Grahic Jump Location
+Theoretical workspace and indication of singular configurations
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Theoretical workspace and indication of singular configurations
Figure 7

Theoretical workspace and indication of singular configurations

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+Robotic wrist prototype
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Robotic wrist prototype
Figure 8

Robotic wrist prototype

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+Real workspace: spherical surface generated by the range of pitch and yaw angles of aproximately 120deg
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Real workspace: spherical surface generated by the range of pitch and yaw angles of aproximately 120deg
Figure 9

Real workspace: spherical surface generated by the range of pitch and yaw angles of aproximately 120deg

Grahic Jump Location
+Roll angle: (a)3ṞRR; and (b)3ṞRR+ṞUR
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Roll angle: (a)3ṞRR; and (b)3ṞRR+ṞUR
Figure 10

Roll angle: (a)3ṞRR; and (b)3ṞRR+ṞUR

Grahic Jump Location
+Nomenclature for modelling the 3ṞRR+ṞUR
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Nomenclature for modelling the 3ṞRR+ṞUR
Figure 1

Nomenclature for modelling the 3ṞRR+ṞUR

Grahic Jump Location
+Notation for the analysis of ith ṞRR limb: (a) lower links; and (b) upper links
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Notation for the analysis of ith ṞRR limb: (a) lower links; and (b) upper links
Figure 2

Notation for the analysis of ith ṞRR limb: (a) lower links; and (b) upper links

Grahic Jump Location
+Notation for the analysis of the ṞUR limb
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Notation for the analysis of the ṞUR limb
Figure 3

Notation for the analysis of the ṞUR limb

Grahic Jump Location
+Values of φ1 and φ2 that annul Jq(i,i)(i=1,2,3)
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Values of φ1 and φ2 that annul Jq(i,i)(i=1,2,3)
Figure 4

Values of φ1 and φ2 that annul Jq(i,i)(i=1,2,3)

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