Design of a Non-Holonomic Spherical Wrist

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• 作者：M. Callegari ; M. Battistelli ; R. Di Gregorio
• 关键词：Parallel kinematics machine ; Spherical parallel manipulator ; Non ; holonomic constraints ; Underactuated mechanism ; Robotics
• 刊名：Journal of Intelligent and Robotic Systems
• 出版年：2016
• 出版时间：February 2016
• 年：2016
• 卷：81
• 期：2
• 页码：181-194
• 全文大小：2,201 KB
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  16.Battistelli, M., Callegari, M., Di Gregorio, R.: Design and performance analysis of an (nS)-2SP U underactuated wrist. Proceedings ASME/IEEE MESA14, 10th International Conference on Mechatronic and Embedded Systems, pp 1–6 (2014). doi:10.​1109/​MESA.​2014.​6935530
  17.Di Gregorio, R., Callegari, M., Battistelli, M.: Real-time algorithm, based on two extra sensors, for monitoring platform’s orientation of an under-actuated parallel wrist. Meccanica (2015). doi:10.​1007/​s11012-014-0090-z
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• 作者单位：M. Callegari (1)
  M. Battistelli (1)
  R. Di Gregorio (2)
  
  1. DIISM, Polytechnic University of Marche, Ancona, Italy
  2. Department of Engineering, University of Ferrara, Ferrara, Italy
  
• 刊物类别：Engineering
• 刊物主题：Automation and Robotics
  Electronic and Computer Engineering
  Artificial Intelligence and Robotics
  Mechanical Engineering
  
• 出版者：Springer Netherlands
• ISSN：1573-0409

文摘

The article presents a prototypal design of a spherical parallel machine that can be used for the orientation of parts or devices: the peculiarity of this wrist is that, by exploiting non-holonomic constraints, it is able to bring the end-effector in any 3 d.o.f.’s orientation within its working space by only using 2 actuators. It is shown that, despite the higher complexity of the mechanical design, such architecture features good kinematic performances with respect to similar holonomic machines. Moreover, the use of 4 position sensors allows to obtain just one solution for the direct orientation problem, characterized by simple mathematical expressions. The kinematic performances of the wrist make it a suitable choice for the functional design of machines to be used for static tasks or point to point motions.