Kinematics and dynamics of a 3-CRU spherical parallel robot

Massimo Callegari, Andrea Gabrielli, Alessandro Cammarata, Rosario Sinatra

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

17 Zitate (Scopus)

Abstract

This paper describes the kinematics and dynamics of a spherical parallel wrist called 3-CRU after the topology of its legs. After a mobility analysis showing the geometrical conditions that yield motions of pure rotation, its kinematics is worked out in closed-form for both position and velocity problems. Then inverse and direct dynamics models are developed and the latter is investigated by the use of the multibody NOC method. Seven bodies are considered by the models: two links for each one of the three legs and the moving platform, while inertial joints parameters have been neglected. Finally, numerical simulations are presented to validate the model. This architecture adopts kinematic pairs that make it suitable for being realized at a mini- or microscale. The Authors are presently developing the design of a robot based on such a concept.

OriginalspracheEnglisch
Titel2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Seiten933-941
Seitenumfang9
DOIs
PublikationsstatusVeröffentlicht - 2008
Extern publiziertJa
Veranstaltung31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 - Las Vegas, NV, USA/Vereinigte Staaten
Dauer: 4 Sept. 20077 Sept. 2007

Publikationsreihe

Name2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Band8 PART B

Konferenz

Konferenz31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
Land/GebietUSA/Vereinigte Staaten
OrtLas Vegas, NV
Zeitraum4/09/077/09/07

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