We present singularity-free workspace optimization of a class of two-degree-of-freedom (2-DoF) parallel wrists with large rotation range capability. The wrists in consideration are kinematically equivalent to two families of 2-DoF homokinetic couplings. The first family comprises fully parallel wrists with N (N ≥ 3) double-universal (UU) legs. The second family comprises spherical N-(UU) parallel wrists with interconnecting revolute (R) joints. Both families belong to the more general class of zero-torsion parallel manipulators, and are, therefore, collectively referred to as zero-torsion wrists (ZTWs). We carry out a unified singularity-free workspace optimization by utilizing geometric properties of zero-torsion motion manifolds. Our work may serve as a conceptual guide to the design of ZTWs for large tilt-angle applications.

Workspace optimization of a class of zero-torsion parallel wrists

Wu, Yuanqing;Carricato, Marco
2019

Abstract

We present singularity-free workspace optimization of a class of two-degree-of-freedom (2-DoF) parallel wrists with large rotation range capability. The wrists in consideration are kinematically equivalent to two families of 2-DoF homokinetic couplings. The first family comprises fully parallel wrists with N (N ≥ 3) double-universal (UU) legs. The second family comprises spherical N-(UU) parallel wrists with interconnecting revolute (R) joints. Both families belong to the more general class of zero-torsion parallel manipulators, and are, therefore, collectively referred to as zero-torsion wrists (ZTWs). We carry out a unified singularity-free workspace optimization by utilizing geometric properties of zero-torsion motion manifolds. Our work may serve as a conceptual guide to the design of ZTWs for large tilt-angle applications.
2019
Wu, Yuanqing*; Carricato, Marco
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/660730
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