Hostname: page-component-76fb5796d-22dnz Total loading time: 0 Render date: 2024-04-26T03:51:07.769Z Has data issue: false hasContentIssue false
  • English
  • Français

Non-overconstrained 3-dof spherical parallel manipulators of type: 3-RCC, 3-CCR, 3-CRC

Published online by Cambridge University Press:  31 October 2005

Mourad Karouia  and
Jacques M. Hervé
Mourad Karouia
Affiliation:
Medical Robotics, Institute of Cardiology Pitié-Salpêtrieè, Paris (France) E-mail: mourad.karouia@psl.aphp.fr
Jacques M. Hervé
Affiliation:
Mechanical Researches, Centre of Research Ecole Centrale Paris, France. E-mail: jherve@ecp.fr
Get access Rights & Permissions [Opens in a new window]

Abstract

Non-overconstrained 3-dof spherical parallel manipulators of a structural type 3-RCC, 3-CCR, 3-CRC are introduced. The mechanism has three limbs that connect in parallel the moving platform to the fixed base. Each limb is an opened kinematic chain made of a sequence of one revolute pair R and two cylindrical pairs C. The orientation of the end-effector is obtained by actuating simultaneously the three limbs. A structural type analysis and synthesis, which is based on the algebraic properties of a Lie group of the displacement set, is employed to find the geometrical conditions for the assembly of these spherical parallel mechanisms and also the structurally singular configurations. Then an enumeration of the structural types is given and remarkable special cases of orientational mechanisms are also described, namely 3-HGR, 3-RGH and 3-HGH.

Keywords

KinematicsRoboticsParallel mechanismWristSphericalOrientationNon-overconstrainedType synthesisLie groupy
Type
Research Article
Information
Robotica , Volume 24 , Issue 1 , January 2006 , pp. 85 - 94
Copyright
2005 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)