A novel parallel robot stemming from the 3-UPU under-actuated topology is presented in this paper. The conceptual design here proposed takes advantage of a recongurable universal joint obtained by locking, one at a time, different rotations of a spherical pair by means of an automatized system. Such local reconguration causes a slight modication to the robot legs mobility which is enough to provide the end-effector with different kinds of motion. The rest part of the paper is dedicated at formally demonstrating the motion capabilities offered by the 3-UPU kinematics; in the second part, a mechanical solution for the realization of the recongurable joint is shown.
A novel reconfigurable 3-URU parallel platform / Carbonari, Luca; Corinaldi, David; Palpacelli, Matteo; Palmieri, Giacomo; Callegari, Massimo. - STAMPA. - 49:(2018), pp. 63-73. (Intervento presentato al convegno 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 tenutosi a Turin, Italy nel June 21 - 23, 2017) [10.1007/978-3-319-61276-8_8].
A novel reconfigurable 3-URU parallel platform
Carbonari, Luca;Corinaldi, David;Palpacelli, Matteo;Palmieri, Giacomo;Callegari, Massimo
2018-01-01
Abstract
A novel parallel robot stemming from the 3-UPU under-actuated topology is presented in this paper. The conceptual design here proposed takes advantage of a recongurable universal joint obtained by locking, one at a time, different rotations of a spherical pair by means of an automatized system. Such local reconguration causes a slight modication to the robot legs mobility which is enough to provide the end-effector with different kinds of motion. The rest part of the paper is dedicated at formally demonstrating the motion capabilities offered by the 3-UPU kinematics; in the second part, a mechanical solution for the realization of the recongurable joint is shown.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
