A Redundantly Actuated 2-Degrees-of-Freedom Mini Pointing Device

A Redundantly Actuated 2-Degrees-of-Freedom Mini Pointing Device

This article presents the concept of a novel parallel kinematics manipulator (PKM) designed for miniature scale applications. A flexible universal joint made of superelastic material provides the device two rotational degrees of freedom, which are redundantly driven by three linear actuators that pu...

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Veröffentlicht in:Journal of mechanisms and robotics 2012-08, Vol.4 (3), p.1-10
Hauptverfasser: Palpacelli, Matteo-Claudio, Palmieri, Giacomo, Callegari, Massimo
Format: Artikel
Sprache:eng
Schlagworte:
Actuators
Devices
Kinematics
Manipulators
Miniature
Preliminary designs
Robot arms
Superelasticity
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container_title Journal of mechanisms and robotics
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creator Palpacelli, Matteo-Claudio
Palmieri, Giacomo
Callegari, Massimo
description This article presents the concept of a novel parallel kinematics manipulator (PKM) designed for miniature scale applications. A flexible universal joint made of superelastic material provides the device two rotational degrees of freedom, which are redundantly driven by three linear actuators that push against the mobile platform with a sphere-plane unilateral constraint. The kinematic and structural behavior of the flexible joint and the overall kinetostatic performance of the manipulator are investigated. Eventually a preliminary design is proposed, aimed at creating a physical prototype of the machine.
doi_str_mv 10.1115/1.4006833
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source ASME Transactions Journals (Current)
subjects Actuators
Devices
Kinematics
Manipulators
Miniature
Preliminary designs
Robot arms
Superelasticity
title A Redundantly Actuated 2-Degrees-of-Freedom Mini Pointing Device
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