Affiliation:
1. Department of Mechatronics and Mechanical Systems Engineering, Polytechnic School, University of Sao Paulo, Avenue Prof. Mello Moraes 2231, Sao Paulo, SP 05508-900, Brazil
Abstract
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.
Subject
Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials
Reference21 articles.
1. Parallel Robots
2. Prototype of a Redundant Parallel Robot Wrist;Hess-Coelho
3. Kinematic and Static Characterization of Wrist Joints and their Optimal Design;Asada
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