Kineto-elasto-static synthesis of a 3-CRU spherical wrist for miniaturized assembly tasks

Massimo Callegari; Andrea Gabrielli; Maurizio Ruggiu

doi:10.1007/s11012-007-9100-8

Kineto-elasto-static synthesis of a 3-CRU spherical wrist for miniaturized assembly tasks

Massimo Callegari, Andrea Gabrielli, Maurizio Ruggiu

Research output: Contribution to journal › Article › peer-review

9 Scopus citations

Abstract

The article presents the preliminary studies for the prototyping of a spherical parallel robot for miniaturized assembly applications. The closed-form solution of robot's kinematics allowed to optimize its (rotation) workspace by taking into account all singularity surfaces and the maximum strokes of the linear actuators. Then, in view of flexures design, the maximum rotations of the passive joints have been calculated and finally the design of the legs and of the whole robot has been carried out by means of a FEM software, with due regard to the non-linearities arising from large displacements.

Original language	English
Pages (from-to)	377-389
Number of pages	13
Journal	Meccanica
Volume	43
Issue number	4
DOIs	https://doi.org/10.1007/s11012-007-9100-8
State	Published - Aug 2008
Externally published	Yes

Keywords

Flexible joints
Machine design
Mini-robotics
Parallel kinematics machine
Spherical wrist

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10.1007/s11012-007-9100-8

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abstract = "The article presents the preliminary studies for the prototyping of a spherical parallel robot for miniaturized assembly applications. The closed-form solution of robot's kinematics allowed to optimize its (rotation) workspace by taking into account all singularity surfaces and the maximum strokes of the linear actuators. Then, in view of flexures design, the maximum rotations of the passive joints have been calculated and finally the design of the legs and of the whole robot has been carried out by means of a FEM software, with due regard to the non-linearities arising from large displacements.",

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AU - Gabrielli, Andrea

AU - Ruggiu, Maurizio

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AB - The article presents the preliminary studies for the prototyping of a spherical parallel robot for miniaturized assembly applications. The closed-form solution of robot's kinematics allowed to optimize its (rotation) workspace by taking into account all singularity surfaces and the maximum strokes of the linear actuators. Then, in view of flexures design, the maximum rotations of the passive joints have been calculated and finally the design of the legs and of the whole robot has been carried out by means of a FEM software, with due regard to the non-linearities arising from large displacements.

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KW - Machine design

KW - Mini-robotics

KW - Parallel kinematics machine

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Kineto-elasto-static synthesis of a 3-CRU spherical wrist for miniaturized assembly tasks

Abstract

Keywords

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