Experimental Study of the Mechanical Properties of a Spherical Parallel Link Mechanism With Arc Prismatic Pairs

Saiki, Naoto; Tadakuma, Kenjiro; Watanabe, Masahiro; Abe, Kazuki; Konyo, Masashi; Tadokoro, Satoshı

doi:10.1109/lra.2022.3192760

Cited by 2 publications

(2 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The spherical mechanism has rotational degrees of freedom in two directions around a fixed center. Saiki, N. et al [35] theoretically confirmed the influence that the arc sliders' friction had on the workspace of the mechanism proposed in [34] and used roller guides to reduce friction created by the arc sliders. The two-DOF curved biaxial swing spherical mechanism with two active arc sliders can be utilized in automobiles such as stabilization platforms and acceleration impact reduction mechanisms.…”

Section: State-of-the-art In Studying Spherical Mechanismsmentioning

confidence: 94%

The Kinematic Investigation of the Stephenson-III Spherical Mechanism with a Spherical Slider Containing a Spherical Prismatic Pair

2023

View full text Add to dashboard Cite

Multi-loop spherical mechanisms are extremely beneficial for creating versatile mechanical devices, including robotic joints and surgical tools, since multi-loop spherical mechanisms possess unique capabilities to operate in spatial situations with relatively simple movement. Nevertheless, the research on multi-loop spherical mechanisms with spherical sliders containing spherical prismatic pairs is lacking. Therefore, the main innovation of this paper is to propose the Stephenson-III two-loop spherical mechanism that possesses a spherical slider containing a spherical prismatic pair and to analyze the proposed spherical mechanism’s motion characteristics. An algebraic approach was employed to obtain the branch graphs of the proposed spherical mechanism with a spherical slider. The branch graphs were categorized into two types, according to whether branch points existed. With the algebraic approach, loop equations of the two spherical kinematic chains inside the proposed spherical mechanism were established to identify the input–output curves and singularity curves, with which the branch graphs were obtained. With the branch graphs, the joint rotation spaces (JRSs) of the proposed mechanism were recognized and so were the dead center positions, branches, sub-branches, and branch points. The results from the mathematical analysis were simulated and verified by three-dimensional (3D) models of the proposed spherical mechanism. The analytical results demonstrate that the spherical prismatic pair diversifies the motion of the proposed spherical mechanism by producing rotational sliding movement, which can cover the entire circumference of a specific greater circle on the proposed mechanism’s sphere.

show abstract

Section: State-of-the-art In Studying Spherical Mechanismsmentioning

confidence: 94%

The Kinematic Investigation of the Stephenson-III Spherical Mechanism with a Spherical Slider Containing a Spherical Prismatic Pair

2023

View full text Add to dashboard Cite

show abstract

“…Similarly, spherical trigonometry was used for the inverse and forward kinematics analysis of an eye surgery robot with spherical architecture [65]. In addition, the application of spherical trigonometry for similar problems was shown in [22], [25], [30], [75], and [76]. reviewed in [9].…”

Section: ) Inverse Kinematicsmentioning

confidence: 99%

Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot

Feller

2023

IEEE Access

View full text Add to dashboard Cite

In this article, the solution to the inverse and forward kinematics of a novel three-legged, serialparallel, compliant robot are presented. The design of the robot aims to combine properties from serial and parallel architectures, thereby targeting an agile, yet precisely controllable robot that possibly allows both for dynamic locomotion and accurate manipulation tasks. The robot embodies the series connection of two parallel architectures, a planar and a spherical mechanism, realized in a highly dense mechanical assembly, allowing for lightweight, functionally redundant and compliant 4-DOF legs. A hybrid compliance behaviour is achieved, serving as a threshold between a stiff and compliant systemic state of the robot. Based on the mechanism design, the study involves the derivation of an alternative, yet complete solution for the inverse and forward kinematics of the spherical parallel manipulator (SPM). The approach utilizes spherical trigonometry and spatial vector geometry and yields a unique solution, while being both easy to implement and numerically efficient, thereby being applicable to real time implementations. Conceptually, a reduction of the mechanism assembly and working modes was directly integrated into the solution terms, drastically simplifying the expressions as they only represents the mechanically meaningful configuration relevant for actual physical systems. In addition to the active joint coordinates, the solution yields a unique set of all passively driven joints. The derived robot kinematics are furthermore verified through a 3D simulation model, showing the robot performing several motions. Thereby, the simulations portray the characteristics of the motor units by means of their corresponding phase profiles, revealing a balanced utilisation.INDEX TERMS Forward kinematics, inverse kinematics, legged robot, mechanical design, serial-parallel mechanism, spherical parallel manipulator.

show abstract

Experimental Study of the Mechanical Properties of a Spherical Parallel Link Mechanism With Arc Prismatic Pairs

Cited by 2 publications

References 23 publications

The Kinematic Investigation of the Stephenson-III Spherical Mechanism with a Spherical Slider Containing a Spherical Prismatic Pair

The Kinematic Investigation of the Stephenson-III Spherical Mechanism with a Spherical Slider Containing a Spherical Prismatic Pair

Kinematics of a Novel Serial-Parallel, Compliant, Three-Legged Robot

Contact Info

Product

Resources

About