Novel Reconfigurable Spherical Parallel Mechanisms with a Circular Rail

Robotics

Pavel Laryushkin¹  Anton Antonov²  Victor Glazunov²  Alexey Fomin² 

[1] Department of Fundamentals of Machine Design, Bauman Moscow State Technical University (BMSTU), 105005 Moscow, Russia;Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia;

关键词: parallel manipulator;    spherical mechanism;    circular rail;    mobility analysis;    screw theory;   

DOI  :  10.3390/robotics11020030

来源: DOAJ

【 摘 要 】

The COVID-19 pandemic has placed unprecedented stress on the world healthcare system and demonstrated the need for modern automated robotic solutions for numerous medical applications. Often, robots that provide spherical motion of the end-effector are used in this area. In this paper, we discuss a spherical mechanism with a circular rail and provide several possible variations of the design: spherical robots with three or four legs and 4-DOF robots with an additional translational DOF, including a decoupled mechanism. The screw theory is used to analyze the mobility of the discussed mechanisms, and their advantages and drawbacks are discussed.

【 授权许可】

Unknown