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.
Issue Section:
Research Papers
Topics:
Actuators,
Kinematics,
Manipulators,
Universal joints,
Stress,
Design,
Rotation,
Bending (Stress)
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.Copyright © 2012
by American Society of Mechanical Engineers
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