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EnglishSchoenflies-motion generators (SMGs) are 4-degrees-of-freedom (dof) manipulators whose end effector can perform translations along three independent directions and rotations around one fixed direction (Schoenflies motions). Such motions constitute the 4-dimensional (4-D) Schoenflies subgroup of the 6-D displacement group. The most known SMGs are the serial robots named SCARA. Pick-and-place tasks are typical industrial applications that can be accomplished by SMGs. Over the SCARA, lower-mobility parallel manipulators (PMs) have been proposed as SMGs. Here, a novel type of SMG with parallel architecture is presented together with its kinematics analysis. The proposed SMG has a single-loop not-overconstrained architecture, actuators on or near the base and decoupled kinematics.
| Titolo: | A novel single-loop decoupled schoenflies-motion generator: Concept and kinematics analysis | |
| Autori: | DI GREGORIO, Raffaele (Primo) (Corresponding) | |
| Data di pubblicazione: | 2018 | |
| Serie: | ||
| Handle: | http://hdl.handle.net/11392/2381258 | |
| ISBN: | 9783319612751 9783319612768 | |
| Appare nelle tipologie: | 02.1 Contributo in volume (Capitolo, articolo) |
File in questo prodotto:
| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| 9783319612751-c2.pdf | Full text editoriale | Full text (versione editoriale) | NON PUBBLICO - Accesso privato/ristretto | Administrator Richiedi una copia |
http://hdl.handle.net/11392/2381258
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