The paper presents two reconfigurable non-overconstrained parallel kinematics machines, whose moving platform can translate or rotate according to the configuration of a specific joint. They share similar leg kinematics: both manipulators have a cylindrical joint and a universal joint, which are used to connect each leg respectively with the fixed base and the moving platform. On the contrary, the manipulators differ for the intermediate joint between the two members that make up each leg: a prismatic and a revolute joint. The universal joint can be actually thought of as a spherical lockable joint, featured by a serial kinematics of three revolute axes. Two of them can be locked alternately in order to provide two different universal joint configurations, which confer the two mentioned mobilities on both manipulators. Screw theory is used to geometrically demonstrate their mobility.

Mobility analysis of non-overconstrained reconfigurable parallel manipulators with 3-CPU/3-CRU kinematics / Palpacelli, Matteo-Claudio; Carbonari, Luca; Palmieri, Giacomo; Callegari, Massimo. - STAMPA. - 36:(2016), pp. 189-200. [10.1007/978-3-319-23327-7_17]

Mobility analysis of non-overconstrained reconfigurable parallel manipulators with 3-CPU/3-CRU kinematics

Palpacelli, Matteo-Claudio
Writing – Original Draft Preparation
;
Palmieri, Giacomo
Investigation
;
Callegari, Massimo
Investigation
2016-01-01

Abstract

The paper presents two reconfigurable non-overconstrained parallel kinematics machines, whose moving platform can translate or rotate according to the configuration of a specific joint. They share similar leg kinematics: both manipulators have a cylindrical joint and a universal joint, which are used to connect each leg respectively with the fixed base and the moving platform. On the contrary, the manipulators differ for the intermediate joint between the two members that make up each leg: a prismatic and a revolute joint. The universal joint can be actually thought of as a spherical lockable joint, featured by a serial kinematics of three revolute axes. Two of them can be locked alternately in order to provide two different universal joint configurations, which confer the two mentioned mobilities on both manipulators. Screw theory is used to geometrically demonstrate their mobility.
2016
Advances in Reconfigurable Mechanisms and Robots II
978-3-319-23326-0
978-3-319-23327-7
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/230172
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