Rotational Mobility Analysis of the 3-RFR Class of Spherical Parallel Robots

Advances in Robot Kinematics 2018 - Springer Proceedings in Advanced Robotics ◽

10.1007/978-3-319-93188-3_19 ◽

2018 ◽

pp. 161-169

Author(s):

David Corinaldi ◽

Luca Carbonari ◽

Matteo-Claudio Palpacelli ◽

Massimo Callegari

Keyword(s):

Parallel Robots ◽

Rotational Mobility ◽

Mobility Analysis

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On the Design of Mobile Parallel Robots for Large Workspace Applications

Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2011-48101 ◽

2011 ◽

Cited By ~ 2

Author(s):

Hai Yang ◽

Se´bastien Krut ◽

Franc¸ois Pierrot ◽

Ce´dric Baradat

Keyword(s):

Parallel Robots ◽

Legged Robots ◽

Parallel Mechanisms ◽

Mobility Analysis ◽

Design Constraints ◽

And Performance ◽

Forward Kinematic

In this paper, several considerations for designing industry oriented robots which combine the mobility of legged robots and advantages of parallel mechanisms are outlined. For designing such optimized robots in terms of simplicity and performance, a topology study is done based on the mobility analysis. Applying some design constraints, potential topologies of such robots are identified. One architecture is chosen for designing a tripod robot. Both inverse and forward kinematic problems of this robot are derived in order to simulate its gait motion. The analysis and simulations show that: integrating some clamping devices and some lockable passive joints, six actuators are enough to build a legged manipulator which can not only perform 6-axis machining but can also walk on a curved supporting media.

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The Mobility Analyses of Some Classical Mechanism and Recent Parallel Robots

Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2006-99109 ◽

2006 ◽

Cited By ~ 3

Author(s):

Zhen Huang ◽

Ping Xia

Keyword(s):

Parallel Robots ◽

Parallel Mechanisms ◽

Mobility Analysis ◽

Complicated Problem ◽

Analysis Methodology ◽

Mobility Problem ◽

Delta Robot ◽

Mechanism Theory ◽

Classical Mechanism

The paper once again deals with the mobility analysis methodology of mechanisms based on constraint screw. It is a very important subject in mechanism theory lasting about 150 year. Firstly, the paper introduces some background and then the methodology. The paper focuses on analysis of some “paradoxical mechanisms”, including classical mechanism and modern parallel mechanisms, such as Bennett mechanism, Delta robot, Tsai’s CPM mechanism and so on. All the results prove that for the difficult mobility problem the analysis procedures are quite simple and convenient, and will easily be held by numerous mechanical engineers. The complicated problem is solved only by using a pencil, a sheet of paper and just for a few minutes.

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