Schoenflies-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). The authors, in a previous paper, showed that a 2PRPU SMG has a simple position analysis and singularities that leave a wide free-from-singularity workspace. The present paper addresses the kinetostatics and the optimal design of this SMG.
Kinetostatics and optimal design of a 2PRPU shoenflies-motion generator
Di Gregorio, R.Co-primo
2018
Abstract
Schoenflies-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). The authors, in a previous paper, showed that a 2PRPU SMG has a simple position analysis and singularities that leave a wide free-from-singularity workspace. The present paper addresses the kinetostatics and the optimal design of this SMG.File in questo prodotto:
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