Spherical parallel manipulators (SPMs) are used to orient a tool in the space with three degrees of freedom exploiting the strengths of a multi-limb architecture. On the other hand, the performance of parallel kinematics machines (PKMs) is often affected by the occurrence of different kinds of singular configurations. The paper aims at characterizing a class of SPMs for which all singularities come to coincide and a single expression is able to describe all the singular configurations of the machines. The study is focused on a class of SPMs with 3-RFR topology (Revolute-Planar-Revolute pairs for each of the three limbs) addressing the mobility and singularity analysis by means of polynomial decomposition and screw theory. The neatness of the equations that are worked out, expressed in a robust formulation based on rotation invariants, allows a straightforward planning of singularity free tasks and simplifies the synthesis of dexterous machines.
Rotational Mobility Analysis of the 3-RFR Class of Spherical Parallel Robots / Corinaldi, David; Carbonari, Luca; Palpacelli, Matteo-Claudio; Callegari, Massimo. - STAMPA. - 8:(2019), pp. 161-169. (Intervento presentato al convegno 16th International Symposium on Advances in Robot Kinematics (ARK) tenutosi a Bologna (I) nel JUL 01-05, 2018) [10.1007/978-3-319-93188-3_19].
Rotational Mobility Analysis of the 3-RFR Class of Spherical Parallel Robots
Carbonari, LucaSecondo
;Palpacelli, Matteo-Claudio;Callegari, Massimo
Ultimo
2019-01-01
Abstract
Spherical parallel manipulators (SPMs) are used to orient a tool in the space with three degrees of freedom exploiting the strengths of a multi-limb architecture. On the other hand, the performance of parallel kinematics machines (PKMs) is often affected by the occurrence of different kinds of singular configurations. The paper aims at characterizing a class of SPMs for which all singularities come to coincide and a single expression is able to describe all the singular configurations of the machines. The study is focused on a class of SPMs with 3-RFR topology (Revolute-Planar-Revolute pairs for each of the three limbs) addressing the mobility and singularity analysis by means of polynomial decomposition and screw theory. The neatness of the equations that are worked out, expressed in a robust formulation based on rotation invariants, allows a straightforward planning of singularity free tasks and simplifies the synthesis of dexterous machines.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.