Abstract
The parallel-wrist (PW) architectures that can be manufactured from a single sheet and, then, packed into a multi-layer configuration are interesting for many applications that range from MEMS to space. If suitably sized, a single-loop RU-RRRS topology allows to devise such a PW. Here, this PW architecture will be presented together with its kinematics analysis.
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Notes
- 1.
R, U and S stand for revolute pair, universal joint and spherical pair, respectively. The underscore denotes actuated pairs.
- 2.
Hereafter, \({\mathbf {i}}_{b}\), \({\mathbf {j}}_{b}\) and \({\mathbf {k}}_{b}\) will denote the unit vectors of the coordinate axes \(x_{b}\), \(y_{b}\) and \(z_{b}\), respectively.
- 3.
Here, a line passing through point P and with the direction of the vector \({\mathbf {w}}\) is denoted (P, \({\mathbf {w}}\)).
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Acknowledgments
This work has been developed at the Laboratory of Advanced Mechanics (MECH-LAV) of Ferrara Technopole, supported by UNIFE funds and by Regione Emilia Romagna (District Councillorship for Productive Assets, Economic Development, Telematic Plan)POR-FESR 2007-2013, Attività I.1.1.
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Gregorio, R.D. (2014). A Deployable Parallel Wrist with Simple Kinematics. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_6
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DOI: https://doi.org/10.1007/978-3-319-06698-1_6
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