We report some recent advances in kinematics and singularity analysis of the mirror-symmetric - parallel wrists using symmetric space theory. We show that both the finite displacement and infinitesimal singularity kinematics of a - wrist are governed by the mirror symmetry property and half-angle property of the underlying motion manifold, which is a symmetric submanifold of the special Euclidean group SE(3). Our result is stronger than and may be considered a closure of Hunt's argument for instantaneous mirror symmetry in his pioneering exposition of constant velocity shaft couplings. Moreover, we show that the wrist can, to some extent, be treated as a spherical mechanism, even though dependent translation exists, and the singularity-free workspace of a - wrist may be analytically derived. This leads to a straightforward optimal design for maximal singularity-free workspace.
Synthesis and Singularity Analysis of N- Parallel Wrists: A Symmetric Space Approach
Manuscript received January 2, 2017; final manuscript received August 3, 2017; published online August 24, 2017. Assoc. Editor: Jian S. Dai.
- Views Icon Views
- Share Icon Share
- Cite Icon Cite
- Search Site
Wu, Y., and Carricato, M. (August 24, 2017). "Synthesis and Singularity Analysis of N- Parallel Wrists: A Symmetric Space Approach." ASME. J. Mechanisms Robotics. October 2017; 9(5): 051013. https://doi.org/10.1115/1.4037547
Download citation file:
- Ris (Zotero)
- Reference Manager