This article presents the concept of a novel parallel kinematics manipulator (PKM) designed for miniature scale applications. A flexible universal joint made of superelastic material provides the device two rotational degrees of freedom, which are redundantly driven by three linear actuators that push against the mobile platform with a sphere-plane unilateral constraint. The kinematic and structural behavior of the flexible joint and the overall kinetostatic performance of the manipulator are investigated. Eventually a preliminary design is proposed, aimed at creating a physical prototype of the machine.
A redundantly actuated 2-degrees-of-freedom mini pointing device / Palpacelli, MATTEO CLAUDIO; Palmieri, Giacomo; Callegari, Massimo. - In: JOURNAL OF MECHANISMS AND ROBOTICS. - ISSN 1942-4302. - STAMPA. - 4:3(2012), pp. 031012-031021. [10.1115/1.4006833]
A redundantly actuated 2-degrees-of-freedom mini pointing device
PALPACELLI, MATTEO CLAUDIO;PALMIERI, GIACOMO;CALLEGARI, Massimo
2012-01-01
Abstract
This article presents the concept of a novel parallel kinematics manipulator (PKM) designed for miniature scale applications. A flexible universal joint made of superelastic material provides the device two rotational degrees of freedom, which are redundantly driven by three linear actuators that push against the mobile platform with a sphere-plane unilateral constraint. The kinematic and structural behavior of the flexible joint and the overall kinetostatic performance of the manipulator are investigated. Eventually a preliminary design is proposed, aimed at creating a physical prototype of the machine.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
