The 3-RRS wrist: A new, simple and non-overconstrained spherical parallel manipulator

Journal of Mechanical Design

Volumn 126, Issue 5, 2004, Pages 850-855

  Di Gregorio, Raffaele ^a  

^a UNIVERSITY OF FERRARA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; KINEMATICS; MATRIX ALGEBRA; MECHANISMS; MOTION CONTROL;

CONTROLLED SPHERICAL MOTIONS; KINEMATIC ANALYSIS; SPHERICAL PARALLEL MANIPULATORS;

MANIPULATORS;

EID: 10244229629     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.1767819     Document Type: Article

References (18)

1. Chablat, D., and Angeles, J., 2003, "The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture," ASME J. Mech. Des., 125(2), pp. 275-280.
2. Gosselin, C. M., and Angeles, J., 1989, "The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator," ASME J. Mech. Des., 111(2), pp. 202-207.
3. Gosselin, C. M., Sefrioui, J., and Richard, M. J., 1994, "On the Direct Kinematics of Spherical Three-Degree-of-Freedom Parallel Manipulators of General Architecture," ASME J. Mech. Des., 116(2), pp. 594-598.
4. Gosselin, C. M., Perreault, L., and Vaillancourt, C., 1995, " Simulation and Computer-Aided Kinematic Design of Three-Degree-of-Freedom Spherical Parallel Manipulators," J. Rob. Syst., 12(12), pp. 857-869.
5. Alizade, R. I., Tagiyiev, N. R., and Duffy, J., 1994, "A Forward and Reverse Displacement Analysis of an In-Parallel Spherical Manipulator," Mech. Mach. Theory, 29(1), pp. 125-137.
6. Innocenti, C., and Parenti-Castelli, V., 1993, "Echelon Form Solution of Direct Kinematics for the General Fully-Parallel Spherical Wrist," Mech. Mach. Theory, 28(4), pp. 553-561.
7. Wohlhart, K., 1994, "Displacement Analysis of the General Spherical Stewart Platform," Mech. Mach. Theory, 29(4), pp. 581-589.
8. Karouia, M., and Hervé, J. M., 2000, "A Three-dof Tripod for Generating Spherical Rotation," Advances in Robot Kinematics, Lenarcic, J. and Stanisic, M. M., eds., Kluwer Academic Publishers, Netherlands, pp. 395-402.
9. Di Gregorio, R., 2000, "A New Parallel Wrist Employing Just Revolute Pairs: The 3-RUU Wrist," Robotica, 19(3), pp. 305-309.
10. Di Gregorio, R., 2001, "Kinematics of a new Spherical Parallel Manipulator With Three Equal Legs: The 3-URC Wrist," J. Rob. Syst., 18(5), pp. 213-219.
11. Pierrot, F., and Dombre, E., 1990, "Parallel Structure for Robot Wrist," Proc. of the 2nd Int. Workshop on Advances in Robot Kinematics, Linz, Austria.
12. Wiitala, J. M., and Stanisic, M. M., 2000, "Design of an Overconstrained and Dexterous Spherical Wrist," ASME J. Mech. Des., 122(3), pp. 347-353.
13. Karouia, M., and Hervé, J. M., 2002, "An Orientational 3-dof Parallel Mechanism," Proc. of the 3rd Parallel Kinematics Seminar Chemnitz, Germany, April 23-25, 2002, pp. 139-150.
14. Karouia, M., and Hervé, J. M., 2002, "A Family of Novel Orientational 3-dof Parallel Robots," Proc. of RoManSy'14, July 1-4, 2002, Udine, Italy, Springer (2003), pp. 359-368.
15. Kong, X., and Gosselin, C. M., 2002, "Type Synthesis of 3-DOF Spherical Parallel Manipulators Based on Screw Theory," Proc. of ASME 2002 Design Engineering Technical Conferences, DETC'02, Montreal, Canada, Paper No. DETC2002/MECH-34259.
16. Roberson, R. E., and Schwertassek, R., 1988, Dynamics of Multibody Systems, Springer-Verlag Publishers, ISBN 0-387-17447-8, p. 77.
17. Roth, B., 1993, "Computations in Kinematics," Computational Kinematics, Angeles, J., Hommei, G., and Kovacs, P., eds., Kluwer Academic Publishers, pp. 3-14.
18. Di Gregorio, R., and Parenti-Castelli, V., 2001, "Position Analysis in Analytical Form of the 3-PSP Mechanism," ASME J. Mech. Des., 123 1), pp. 51-55.