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EnglishThe majority of the manipulation tasks require the motion of the end-effector from an initial pose to a final one without any particular condition on the path. Thus, the reduction of the practicable paths between any two poses is a possible choice, exploitable at the design stage, for simplifying the manipulator hardware. This choice is adopted in underactuated manipulators. The (nS)-2SPU wrist is one out of the underactuated parallel wrists this author proposed in a previous paper. Here, the kinematic analysis of this wrist is studied: both its finite and its elementary kinematics are considered. It is shown that its control algorithms can be written by using simple closed-form formulas, which can take advantage from the wide literature on the spherical four-bar linkages. Moreover, the demonstration that its singular configurations can be avoided more easily than the ones of the fully parallel wrist is provided.
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| Data di pubblicazione: | 2012 | |
| Titolo: | Kinematic analysis of the (nS)-2SPU underactuated parallel wrist | |
| Autori: | R. Di Gregorio | |
| Rivista: | JOURNAL OF MECHANISMS AND ROBOTICS | |
| Parole Chiave: | parallel wrist; underactuated manipulator; nonholonomic constraint; sphere-roller contact | |
| Abstract: | The majority of the manipulation tasks require the motion of the end-effector from an initial pose to a final one without any particular condition on the path. Thus, the reduction of the practicable paths between any two poses is a possible choice, exploitable at the design stage, for simplifying the manipulator hardware. This choice is adopted in underactuated manipulators. The (nS)-2SPU wrist is one out of the underactuated parallel wrists this author proposed in a previous paper. Here, the kinematic analysis of this wrist is studied: both its finite and its elementary kinematics are considered. It is shown that its control algorithms can be written by using simple closed-form formulas, which can take advantage from the wide literature on the spherical four-bar linkages. Moreover, the demonstration that its singular configurations can be avoided more easily than the ones of the fully parallel wrist is provided. | |
| Digital Object Identifier (DOI): | 10.1115/1.4006832 | |
| Handle: | http://hdl.handle.net/11392/1684192 | |
| Appare nelle tipologie: | 03.1 Articolo su rivista |
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