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Comparative Study of Two 2-DOF Parallel Mechanisms Used for Orientation

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The 11th IFToMM International Symposium on Science of Mechanisms and Machines

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 18))

Abstract

The paper presents two parallel orientation mechanisms, each with two degrees of freedom (DOF). The kinematics, the workspace and the singularities of these mechanisms are presented. The static generalized forces in the legs, the torques taken by the main universal joints and the performance indices concerning the control and the stiffness of the mechanisms (global conditioning index and global stiffness index) are also assessed.

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Acknowledgments

The research work reported here was financed by the UEFISCDI project code PN-II-PT-PCCA-2011-3.2-0414, entitled “Robotic assisted brachytherapy, an innovative approach of inoperable cancers—CHANCE” and the project Scopes International Grant IZ74Z0-137361/1 entitled Creative Alliance in Research and Education focused on Medical and Service Robotics (CARE-Robotics).

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Authors and Affiliations

  1. Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Tiberiu Itul

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  1. Tiberiu Itul
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Correspondence to Tiberiu Itul .

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Editors and Affiliations

  1. Product Design, Mechatronics and Environment, Transilvania University of Brasov, Brasov, Romania

    Ion Visa

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Itul, T. (2014). Comparative Study of Two 2-DOF Parallel Mechanisms Used for Orientation. In: Visa, I. (eds) The 11th IFToMM International Symposium on Science of Mechanisms and Machines. Mechanisms and Machine Science, vol 18. Springer, Cham. https://doi.org/10.1007/978-3-319-01845-4_15

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  • DOI: https://doi.org/10.1007/978-3-319-01845-4_15

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-01844-7

  • Online ISBN: 978-3-319-01845-4

  • eBook Packages: EngineeringEngineering (R0)

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