Multimedia  

 

Volume 23 Issue 6 - Publication Date: 1 June 2004
 
A Novel Fully Decoupled Two-Degrees-of-Freedom Parallel Wrist
 
M. Carricato, and V. Parenti-Castelli DIEM—Department of Mechanical Engineering, University of Bologna, Viale Risorgimento 2, 40136 Bologna, Italy
 

In this paper we present a novel pointing parallel mechanism with fully decoupled degrees of freedom. The mechanism consists of two interconnected slider-crank linkages, each one of which independently actuates one of the Euler angles of the output link. Motors can be mounted on the frame. The parallel architecture provides the mechanism with compactness and robustness, while decoupling of motion guarantees a wide workspace, an easy mathematical treatment, and a simple control. Such a mechanism may be suitable for applications that require aiming bodies such as tools, telescopes, antennas, cameras, solar panels, human or humanoid artificial limbs, particularly if requisites on dimensions and stoutness on the one hand and mobility on the other are stringent.

 
Multimedia Key
= Video = Data = Code = Image
 
Extension
Type
Description
1
Example One: Color image of the prototype model in the configuration (θ1, θ2 ) = (-25°, 45°). (0.2MB)
2
Example Two: Color image of the prototype model in the configuration (θ1, θ2 ) = ( 30° -35°). (0.2MB)
3
Example Three: Color image of the prototype model in the configuration (θ 1, θ2) = ( -35°, -90°). (0.2MB)
4
Example Four: Prototype model in motion. (3.88MB)
 
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