Torsional Stability of a U-Joint Based Parallel Wrist Mechanism Featuring Infinite Torsion
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.
KeywordsDynamic stability Parallel wrist mechanism Monodromy matrix Floquet theory Torsional vibrations
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).
- 1.Asada, H., Granito, J.: Kinematic and static characterization of wrist joints and their optimal design. In: IEEE International Conference on Robotics and Automation, pp. 244–250 (1985)Google Scholar
- 9.Gosselin, C.M., Hamel, J.F.: The Agile Eye: a high-performance three-degree-of-freedom camera-orienting device. In: IEEE International Conference on Robotics and Automation, pp. 781–786 (1994)Google Scholar
- 11.Kotera, T.: Instability of torsional vibrations of a system with a cardan joint, vol. 26, pp. 19–30. Memoirs of the Faculty of Engineering Kobe University (1980)Google Scholar
- 16.Szymkiewicz, R.: Numerical Solution of Ordinary Differential Equations. Academic Press, New York (1971)Google Scholar