A parallel spherical mechanism with two degrees of freedom for connecting a body to a fixed base in such a manner as to enable it to be oriented in three dimensions by turning about a first axis that is fixed relative to said fixed base, and about a second axis that is fixed relative to said body for orienting, these two axes intersecting at a center of spherical motion situated in said body for orienting, wherein: it comprises at least four links, each of said links being connected to said fixed base via a first connection point and to said body for orienting via a second connection point, and each link belonging to a first type or a second type, there being at least one link of each type, in which: in the link(s) of the first type, the first connection point is at any point of said fixed base, and the second connection point coincides with said center of spherical motion situated in said body for orienting: and in the link(s) of the second type, the first connection point lies on said first axis and the second connection point lies on said second axis, but does not coincide with said center of spherical motion; each connection point of said links lying on said first and/or second axis presents at least one degree of freedom in rotation about said axis.
Vertechy R., Menon C., Parenti Castelli V. (2011). Parallel Spherical Mechanism with Two Degrees of Freedom.
Parallel Spherical Mechanism with Two Degrees of Freedom
VERTECHY, ROCCO;PARENTI CASTELLI, VINCENZO
2011
Abstract
A parallel spherical mechanism with two degrees of freedom for connecting a body to a fixed base in such a manner as to enable it to be oriented in three dimensions by turning about a first axis that is fixed relative to said fixed base, and about a second axis that is fixed relative to said body for orienting, these two axes intersecting at a center of spherical motion situated in said body for orienting, wherein: it comprises at least four links, each of said links being connected to said fixed base via a first connection point and to said body for orienting via a second connection point, and each link belonging to a first type or a second type, there being at least one link of each type, in which: in the link(s) of the first type, the first connection point is at any point of said fixed base, and the second connection point coincides with said center of spherical motion situated in said body for orienting: and in the link(s) of the second type, the first connection point lies on said first axis and the second connection point lies on said second axis, but does not coincide with said center of spherical motion; each connection point of said links lying on said first and/or second axis presents at least one degree of freedom in rotation about said axis.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
