This communication presents an alternative design of a three-degrees-of-freedom manipulator based on the concept on an inparallel actuated mechanism. The manipulator has two degrees of orientation freedom and one degree of translatory freedom. The basic kinematic equations for use of the manipulator are derived and the influences of the physical constraints on the range of motion in the practical design are discussed. Several possible applications which include the in-parallel mechanism as part of the manipulation system are suggested.

exposes nonideal behavior such as finite op-amp slew and current end effector is oriented quickly, continuously, and isotropically in drive, putting limitations on the rates at which an array can be all directions. The performance of the popular three-consecutive-roaddressed by a real interface. In time these further issues will be tational-joints wrist, which possesses singularities within its analyzed, and the tradeoffs arising there will be better understood. workspace [l], 121, is less than optimum.

No abstract

No abstract

The research is to establish the theoretical basis for the design, dynamic modeling and control of a spherical wrist motor which presents some attractive possibilities by combining pitch, roll, and yaw motion in a single joint. The spherical wrist motor has potential applications where the demand on workspace is low but for high-speed precision isotropic manipulation of end-effector orientation, is required continuously in all directions. In this paper, both the finite-element method and the permeance-based model are used for the design and control of the spherical stepper motor. The results of the finite-element method provide the necessary knowledge on the magnetic flux patterns, which are essential for design optimization and dynamic modeling for spherical motor control.