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Spherical Parallel Mechanism with Variable Target Point

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Computational Kinematics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 15))

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Abstract

This paper proposes a position-orientation decoupled parallel mechanism with five degrees of freedom, in which rotational motion of the output link around two axes is controlled by two inputs while translational motion of the target point, the center of rotation of the output link, is controlled by the other three inputs. This mechanism is composed of three connecting chains; one for controlling the position of the target point and two for generating rotational output motion. Conditions of kinematic structures of these chains are discussed and a concrete mechanism is shown. Inverse displacement analysis and Jacobian analysis of this mechanism are carried out to confirm its decoupled feature without encountering the singular point.

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Authors and Affiliations

  1. Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1, O-okayama, Meguro-ku, Tokyo, 152-8552, Japan

    Yukio Takeda, Tsuyoshi Ikeda & Daisuke Matsuura

Authors
  1. Yukio Takeda
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  2. Tsuyoshi Ikeda
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  3. Daisuke Matsuura
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Corresponding author

Correspondence to Yukio Takeda .

Editor information

Editors and Affiliations

  1. Llorens Artigas, Inst Robótica e Informática Industrial, Barcelona, Spain

    Federico Thomas

  2. Mechanical Engineering, Idaho State University, Pocatello, Idaho, USA

    Alba Perez Gracia

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Takeda, Y., Ikeda, T., Matsuura, D. (2014). Spherical Parallel Mechanism with Variable Target Point. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_18

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  • DOI: https://doi.org/10.1007/978-94-007-7214-4_18

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7213-7

  • Online ISBN: 978-94-007-7214-4

  • eBook Packages: EngineeringEngineering (R0)

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