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EnglishThis 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.
| Titolo: | A redundantly actuated 2-degrees-of-freedom mini pointing device |
| Autori: | |
| Data di pubblicazione: | 2012 |
| Rivista: | |
| 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. |
| Handle: | http://hdl.handle.net/11389/1276 |
| Appare nelle tipologie: | 1.1 Articolo in rivista |
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http://hdl.handle.net/11389/1276
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