Abstract
This paper deals with the joint space and workspace analysis of a two degree of freedom spherical parallel mechanism designed to be used to handle an endoscope. This mechanism is composed of the three legs (2USP-U) to connect the base to a moving platform. As the manipulator can get up to six solutions to the direct kinematic problem (DKP) in four aspects, non-singular assembly modes changing trajectories may exist. The aim of the paper is to check whether a regular workspace centred on home pose can be defined in such a way that no such trajectory exists in this workspace.
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Chablat, D., Michel, G., Bordure, P., Jha, R., Venkateswaran, S. (2020). Joint Space and Workspace Analysis of a 2-DOF Spherical Parallel Mechanism. In: Pisla, D., Corves, B., Vaida, C. (eds) New Trends in Mechanism and Machine Science. EuCoMeS 2020. Mechanisms and Machine Science, vol 89. Springer, Cham. https://doi.org/10.1007/978-3-030-55061-5_21
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DOI: https://doi.org/10.1007/978-3-030-55061-5_21
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