Synthesis of 2-DOF spherical fully parallel mechanisms

DOI10.1007/978-1-4020-4941-5_42MaRDI QIDQ3196261zbMATHOpenAlexFDO

Authors Rocco Vertechy, Vincenzo Parenti-Castelli

Publication date 29 October 2015

Published in Advances in Robot Kinematics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-1-4020-4941-5_42

zbMATH Keywords

parallel manipulatorsspherical motionover-constrained mechanisms

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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(6)

• Synthesis of spherical four-bar mechanisms using spherical kinematic mapping
• Synthesis of a single-loop, overconstrained six revolute joint spatial mechanism for two-position cylindrical rigid body guidance
• A Family of Symmetrical Lower-Mobility Parallel Mechanisms with Spherical and Parallel Subchains
• A family of spherical parallel manipulators with two legs
• Asymmetrical 3-dof spherical parallel mechanisms
• Real-time algorithm, based on two extra sensors, for monitoring platform's orientation of underactuated parallel wrists

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