Kineto-elasto-static synthesis of a 3-<Emphasis Type="Underline">C</Emphasis>RU spherical wrist for miniaturized assembly tasks |
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| Authors: | Massimo Callegari Andrea Gabrielli Maurizio Ruggiu |
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| Institution: | (1) Department of Mechanics, Polytechnic University of Marche, Ancona, Italy;(2) Department of Mechanical Engineering, University of Cagliari, Cagliari, Italy |
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| Abstract: | The article presents the preliminary studies for the prototyping of a spherical parallel robot for miniaturized assembly applications.
The closed-form solution of robot’s kinematics allowed to optimize its (rotation) workspace by taking into account all singularity
surfaces and the maximum strokes of the linear actuators. Then, in view of flexures design, the maximum rotations of the passive
joints have been calculated and finally the design of the legs and of the whole robot has been carried out by means of a FEM
software, with due regard to the non-linearities arising from large displacements. |
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| Keywords: | Spherical wrist Mini-robotics Flexible joints Machine design Parallel kinematics machine |
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