TY - GEN
T1 - Kinematics and dynamics of a 3-CRU spherical parallel robot
AU - Callegari, Massimo
AU - Gabrielli, Andrea
AU - Cammarata, Alessandro
AU - Sinatra, Rosario
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=44849095163&partnerID=8YFLogxK
U2 - 10.1115/DETC2007-35894
DO - 10.1115/DETC2007-35894
M3 - Conference contribution
AN - SCOPUS:44849095163
SN - 0791848027
SN - 9780791848029
SN - 0791848094
SN - 9780791848098
T3 - 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
SP - 933
EP - 941
BT - 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
T2 - 31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
Y2 - 4 September 2007 through 7 September 2007
ER -