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Design of a Non-Holonomic Spherical Wrist

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Abstract

The article presents a prototypal design of a spherical parallel machine that can be used for the orientation of parts or devices: the peculiarity of this wrist is that, by exploiting non-holonomic constraints, it is able to bring the end-effector in any 3 d.o.f.’s orientation within its working space by only using 2 actuators. It is shown that, despite the higher complexity of the mechanical design, such architecture features good kinematic performances with respect to similar holonomic machines. Moreover, the use of 4 position sensors allows to obtain just one solution for the direct orientation problem, characterized by simple mathematical expressions. The kinematic performances of the wrist make it a suitable choice for the functional design of machines to be used for static tasks or point to point motions.

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Authors and Affiliations

  1. DIISM, Polytechnic University of Marche, Ancona, Italy

    M. Callegari & M. Battistelli

  2. Department of Engineering, University of Ferrara, Ferrara, Italy

    R. Di Gregorio

Authors
  1. M. Callegari
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  2. M. Battistelli
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  3. R. Di Gregorio
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Correspondence to M. Callegari.

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Callegari, M., Battistelli, M. & Di Gregorio, R. Design of a Non-Holonomic Spherical Wrist. J Intell Robot Syst 81, 181–194 (2016). https://doi.org/10.1007/s10846-015-0243-x

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  • DOI: https://doi.org/10.1007/s10846-015-0243-x

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