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Torsional Stability of a U-Joint Based Parallel Wrist Mechanism Featuring Infinite Torsion

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ROMANSY 22 – Robot Design, Dynamics and Control

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 584))

Abstract

In this paper, the dynamic stability problem of a parallel wrist mechanism is studied by means of monodromy matrix method. This manipulator adopts a universal joint as the ball-socket mechanism to support the mobile platform and to transmit the motion/torque between the input shaft and the end-effector. The linearized equations of motion of the mechanical system are established to analyze its stability according to the Floquet theory. The unstable regions are presented graphically in various parametric charts.

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Acknowledgement

The reported work is supported by the Doctoral Start-up Foundation of Liaoning Province (No. 20170520134) and the Fundamental Research Funds for the Central Universities (No. DUT16RC(3)068).

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Authors and Affiliations

  1. School of Mechanical Engineering, Dalian University of Technology, Dalian, 116024, China

    Guanglei Wu

  2. CNRS, Laboratoire des Sciences du Numérique de Nantes, UMR CNRS 6004, Ecole Centrale de Nantes, 44321, Nantes, France

    Stéphane Caro

Authors
  1. Guanglei Wu
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  2. Stéphane Caro
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Corresponding author

Correspondence to Guanglei Wu .

Editor information

Editors and Affiliations

  1. Inst Natl des Sciences Appliquée (INSA), Rennes Cedex 7, France

    Vigen Arakelian

  2. LS2N - UMR CNRS 6004, Lab. des Sciences du Numérique de Nantes, Nantes Cedex 03, France

    Philippe Wenger

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© 2019 CISM International Centre for Mechanical Sciences

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Wu, G., Caro, S. (2019). Torsional Stability of a U-Joint Based Parallel Wrist Mechanism Featuring Infinite Torsion. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_20

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