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On the kinematics of the 3-RRUR spherical parallel manipulator

Published online by Cambridge University Press:  07 December 2009

R. Deidda ,
A. Mariani  and
M. Ruggiu
R. Deidda
Affiliation:
Department of Mechanical Engineering, University of Cagliari, Piazza d'Armi - 09123 Cagliari, Italy
A. Mariani
Affiliation:
Department of Mechanical Engineering, University of Cagliari, Piazza d'Armi - 09123 Cagliari, Italy
M. Ruggiu*
Affiliation:
Department of Mechanical Engineering, University of Cagliari, Piazza d'Armi - 09123 Cagliari, Italy
*
*Corresponding author. E-mail: [email protected]
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Summary

In the present paper, the kinematics of a three-degree-of-freedom spherical wrist is investigated. The wrist consists of a fixed base connected to a moving platform by three identical legs, each with a RRUR chain (R and U denote a revolute pair and a universal pair, respectively). For each leg, the first R pair is to be considered actuated. Although in previous works the kinematics synthesis of this architecture was carried out, no detailed studies were presented on the kinematic issues of the wrist. This paper presents the mobility analysis, the direct and inverse position kinematics, the differential kinematics of the manipulator including inspection on the jacobian matrix and the analysis of the singularities. The geometrical condition matched in case of mechanical interference between legs is addressed, too. A numerical example of the manipulator kinematics was performed to obtain the workspace, the condition number and the mechanical inteference condition.

Keywords

Spherical parallel manipulatorsOrienting devicesRobotic wrist
Type
Article
Information
Robotica , Volume 28 , Issue 6 , October 2010 , pp. 821 - 832
Copyright
Copyright © Cambridge University Press 2009

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