The article describes the design, prototyping and preliminary testing of a miniaturized spherical parallel manipulator (SPM) with 2 DOFs of rotation, conceived to handle the orientation of a mobile platform during the assembly of very small components. The paper summarizes the basic equations of direct and inverse position kinematics and differential kinematics, and describes all the project phases for the realization of the first prototype. Furthermore, experimental data of preliminary testing are presented.

Design and testing of a spherical parallel mini manipulator / Palmieri, Giacomo; Callegari, Massimo; Carbonari, Luca; Palpacelli, MATTEO CLAUDIO. - CD-ROM. - (2014), pp. 1-6. (Intervento presentato al convegno 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2014 tenutosi a Senigallia, Ancona; Italy nel 10 September 2014 through 12 September 2014) [10.1109/MESA.2014.6935523].

Design and testing of a spherical parallel mini manipulator

PALMIERI, GIACOMO;CALLEGARI, Massimo;CARBONARI, LUCA;PALPACELLI, MATTEO CLAUDIO
2014-01-01

Abstract

The article describes the design, prototyping and preliminary testing of a miniaturized spherical parallel manipulator (SPM) with 2 DOFs of rotation, conceived to handle the orientation of a mobile platform during the assembly of very small components. The paper summarizes the basic equations of direct and inverse position kinematics and differential kinematics, and describes all the project phases for the realization of the first prototype. Furthermore, experimental data of preliminary testing are presented.
2014
9781479922802
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/205515
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