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A non-overconstrained variant of the Agile Eye with a special decoupled kinematics

Published online by Cambridge University Press:  05 December 2013

Chin-Hsing Kuo ,
Jian S. Dai  and
Giovanni Legnani
Chin-Hsing Kuo*
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan
Jian S. Dai
Affiliation:
Centre for Robotics Research, King's College London, University of London, London WC2R 2LS, UK
Giovanni Legnani
Affiliation:
Dip. Ingegneria Meccanica e Industriale, Università di Brescia, 25123 Brescia, Italy
*
*Corresponding author. E-mail: [email protected]
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Summary

A non-overconstrained three-DOF parallel orientation mechanism that is kinematically equivalent to the Agile Eye is presented in this paper. The output link (end-effector) of the mechanism is connected to the base by one spherical joint and by another three identical legs. Each leg comprises of, in turns from base, a revolute joint, a universal joint, and three prismatic joints. The three lower revolute joints are active joints, while all other joints are passive ones. Based on a special configuration, some three projective angles of the end-effector coordinates are fully decoupled with respect to the input actuated joints, that is, by actuating any revolute joint the end-effector rotates in such a way that the corresponding projective angle changes with the same angular displacement. The fully decoupled motion is analyzed geometrically and proved theoretically. Besides, the inverse and direct kinematics solutions of the mechanism are provided based on the geometric reasoning and theoretical proof.

Keywords

Decoupled motionParallel wrist mechanismSpherical parallel manipulatorSpherical mechanism
Type
Articles
Information
Robotica , Volume 32 , Issue 6 , September 2014 , pp. 889 - 905
Copyright
Copyright © Cambridge University Press 2013 

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