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Spherical Non-holonomic Joints

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Parallel Robots With Unconventional Joints

Part of the book series: Parallel Robots: Theory and Applications ((PRTA))

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Abstract

In this chapter, a method to generate under-actuated robots by substituting ordinary spherical joints (S joints) with non-holonomic spherical joints is described, a topic that was already treated in [3, 4]. The practicalities of implementing non-holonomic spherical joints are also included.

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References

  1. J. Angeles, Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms, Mechanical Engineering Series (2003)

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  2. P. Ben-Horin, F. Thomas, A nonholonomic 3-DoF parallel robot, in Advances in Robot Kinematics: Analysis and Design (Springer, Berlin, 2008), pp. 111–118

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  3. P. Grosch, R. Di Gregorio, F. Thomas, Generation of under-actuated parallel robots with non-holonomic articulations and kinetostatic analysis of a case-study, in Proceedings of the ASME International Design Engineering Technical Conference and Computers and Information in Engineering Conference, San Diego, USA (2009), pp. 979–986

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  4. P. Grosch, R. Di Gregorio, F. Thomas, Generation of under-actuated manipulators with non-holonomic articulations from ordinary manipulators. J. Mech. Robot. 2(1), 11005–11012 (2010)

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  5. M.P. Hennessey, Visualizing the motion of a unicycle on a sphere. Int. J. Model. Simul. 26(1), 69–79 (2006)

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  6. O.M. O’Reilly, Intermediate Dynamics for Engineers (2008)

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Authors and Affiliations

  1. Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Barcelona, Spain

    Patrick Grosch & Federico Thomas

Authors
  1. Patrick Grosch
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  2. Federico Thomas
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Correspondence to Patrick Grosch .

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Grosch, P., Thomas, F. (2019). Spherical Non-holonomic Joints. In: Parallel Robots With Unconventional Joints. Parallel Robots: Theory and Applications. Springer, Cham. https://doi.org/10.1007/978-3-030-11304-9_3

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  • DOI: https://doi.org/10.1007/978-3-030-11304-9_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-11303-2

  • Online ISBN: 978-3-030-11304-9

  • eBook Packages: EngineeringEngineering (R0)

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