Abstract
Abstract. This paper deals with an elasto-static analysis of a 2-DOF (degrees of freedom) spherical parallel wrist where the links and the joints are considered flexible. Theoretically, the mobile platform of the wrist rotates around a fixed point which is the intersection of all the joint axes. However, if the flexibility of the limbs is taken into account, while the base platform (BP) and the mobile platform (MP) are assumed rigid, two centers can be identified: one for the BP and the other for the MP. In general such points are not coincident; as a result, the positioning of the MP is affected by inaccuracies, which can be evaluated in terms of displacement and orientation errors. A finite-element method (FEM) approach is used to analyze the problem in a series of configurations of the wrist; the results are elaborated in order to obtain continuous maps of the errors over the workspace of the machine.
Subject
Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering
Reference18 articles.
1. Al-Widyan, K., Ma, X. Q., and Angeles, J.: The robust design of parallel spherical robots, Mech. Mach. Theory, 46, 335–343, https://doi.org/10.1016/j.mechmachtheory.2010.11.002, 2011.
2. Asada, H. and Granito, J. A. C.: Kinematic and static characterization of wrist joints and their optimal design, in: vol. 2, IEEE T. Robot. Automat., 2, 244–250, 1985.
3. Baron, L. and Angeles, J.: The direct kinematics of parallel manipulators under joint-sensor redundancy, IEEE T. Robot. Automat., 16, 12–19, https://doi.org/10.1109/70.833183, 2000.
4. Cammarata, A., Condorelli, D., and Sinatra, R.: An Algorithm to Study the Elastodynamics of Parallel Kinematic Machines With Lower Kinematic Pairs, J. Mech. Robot., 5, 011004, https://doi.org/10.1115/1.4007705, 2012.
5. Di Gregorio, R.: The 3-RRS Wrist: A New, Simple and Non-Overconstrained Spherical Parallel Manipulator, J. Mech. Design, 126, 850–855, https://doi.org/10.1115/1.1767819, 2004.
Cited by
9 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献