Kinematics Analysis of a Single-Loop-Wrist Family
Closed kinematic chains (parallel architectures) allow the actuators to be located on or near to the frame which makes them much lighter and faster than their serial counterparts.Due to their multi-loop topology,these advantages are usually accompanied by reduced workspaces and complex kinematics.The reduction of the closed-loop number could be a design rule to attenuate these drawbacks,provided the resulting architectures still keep the above-mentioned advantages.Here,some single-loop architectures for parallel wrists are presented which still allows the actuators to be located on or near to the frame.Moreover,the kinematic analysis of these architectures is studied in depth.
Ordinary manipulators Parallel wrist Single-loop topology Kinematic analysis Singularities
Raffaele Di Gregorio
Department of Engineering,Ferrara University,Ferrara 44122,Italy
国际会议
天津
英文
1-10
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）