This article presents the concept of a novel parallel kinematics manipulator (PKM) designed for miniature scale applications. A flexible universal joint made of superelastic material provides the device two rotational degrees of freedom, which are redundantly driven by three linear actuators that push against the mobile platform with a sphere-plane unilateral constraint. The kinematic and structural behavior of the flexible joint and the overall kinetostatic performance of the manipulator are investigated. Eventually a preliminary design is proposed, aimed at creating a physical prototype of the machine.

A redundantly actuated 2-degrees-of-freedom mini pointing device

PALPACELLI, MATTEO CLAUDIO;PALMIERI, GIACOMO;CALLEGARI, MASSIMO
2012-01-01

Abstract

This article presents the concept of a novel parallel kinematics manipulator (PKM) designed for miniature scale applications. A flexible universal joint made of superelastic material provides the device two rotational degrees of freedom, which are redundantly driven by three linear actuators that push against the mobile platform with a sphere-plane unilateral constraint. The kinematic and structural behavior of the flexible joint and the overall kinetostatic performance of the manipulator are investigated. Eventually a preliminary design is proposed, aimed at creating a physical prototype of the machine.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11389/1276
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