An extensive conceptual production of three degrees of freedom translating and rotating parallel kinematics machines has been already provided in the scientific literature. In this paper an attempt to gather the two mentioned mobilities in a single reconfigurable machine is made by means of a spherical lockable joint for a family of fully parallel kinematics machines. An overconstrained configuration is exploited for each manipulator of the family in order to realize the transition between the non-overconstrained kinematics associated to the translational and rotational mobilities. Kinematic synthesis is carried out by means of Lie group algebra.
A family of non-overconstrained 3-DoF reconfigurable parallel manipulators / Palpacelli, MATTEO CLAUDIO; Carbonari, Luca; Palmieri, Giacomo; Callegari, Massimo. - STAMPA. - 4:(2018), pp. 191-200. (Intervento presentato al convegno Advances in Robot Kinematics 2016 tenutosi a Grasse (F) nel June 27-30, 2016) [10.1007/978-3-319-56802-7_20].
A family of non-overconstrained 3-DoF reconfigurable parallel manipulators
PALPACELLI, MATTEO CLAUDIO
Investigation
;CARBONARI, LUCAFormal Analysis
;PALMIERI, GIACOMOInvestigation
;CALLEGARI, MassimoSupervision
2018-01-01
Abstract
An extensive conceptual production of three degrees of freedom translating and rotating parallel kinematics machines has been already provided in the scientific literature. In this paper an attempt to gather the two mentioned mobilities in a single reconfigurable machine is made by means of a spherical lockable joint for a family of fully parallel kinematics machines. An overconstrained configuration is exploited for each manipulator of the family in order to realize the transition between the non-overconstrained kinematics associated to the translational and rotational mobilities. Kinematic synthesis is carried out by means of Lie group algebra.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
