0
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
Article
References
Figures
Citing Articles

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.
FIGURES IN THIS ARTICLE
<>
Copyright © 2007 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
+Nomenclature for modelling the 3ṞRR+ṞUR
View Large  |  Save Figure  |  Download Slide (.ppt)
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
View Large  |  Save Figure  |  Download Slide (.ppt)
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
View Large  |  Save Figure  |  Download Slide (.ppt)
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)
View Large  |  Save Figure  |  Download Slide (.ppt)
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)

Grahic Jump Location
+Singularities for RRR limb: (a) first type; and (b) second type
View Large  |  Save Figure  |  Download Slide (.ppt)
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
View Large  |  Save Figure  |  Download Slide (.ppt)
Singularities for RUR limb
Figure 6

Singularities for RUR limb

Grahic Jump Location
+Theoretical workspace and indication of singular configurations
View Large  |  Save Figure  |  Download Slide (.ppt)
Theoretical workspace and indication of singular configurations
Figure 7

Theoretical workspace and indication of singular configurations

Grahic Jump Location
+Robotic wrist prototype
View Large  |  Save Figure  |  Download Slide (.ppt)
Robotic wrist prototype
Figure 8

Robotic wrist prototype

Grahic Jump Location
+Real workspace: spherical surface generated by the range of pitch and yaw angles of aproximately 120deg
View Large  |  Save Figure  |  Download Slide (.ppt)
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
View Large  |  Save Figure  |  Download Slide (.ppt)
Roll angle: (a)3ṞRR; and (b)3ṞRR+ṞUR
Figure 10

Roll angle: (a)3ṞRR; and (b)3ṞRR+ṞUR

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Mechanism Analysis and Kinematics Simulation of Matador Exercise Vehicle
International Conference on Information Technology and Management Engineering (ITME 2011)
Kinematics Analysis of a 2DOF Parallel Proprioceptive Mechanism for Vehicle Driving Simulator
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
Kinematics and Kinetic Analysis of the Slider-Crank Mechanism in Otto Linear Four Cylinder Samand Engine
International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011)
Solving Freight Agency Problem Using Intranet VPN and Site-To-Site VPN
International Conference on Computer Technology and Development, 3rd (ICCTD 2011)
A Research of Grid Security Architecture Based on OGSA
International Conference on Computer Technology and Development, 3rd (ICCTD 2011)
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In