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.

Kinematic analysis of the (nS)-2SPU underactuated parallel wrist

DI GREGORIO, Raffaele
2012

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.
DI GREGORIO, Raffaele
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11392/1684192
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 19
  • ???jsp.display-item.citation.isi??? 17
social impact