Publication
Kinematics of a gear-based spherical mechanism
Conference Article
Conference
International Symposium on Advances in Robot Kinematics (ARK)
Edition
18th
Pages
323-331
Doc link
https://doi.org/10.1007/978-3-031-08140-8_35
File
Authors
Projects associated
Abstract
Kazuki Abe and his collaborators have recently presented an actuated gear-based spherical mechanism called ABENICS. It has received a lot of attention, not only because of its eye-catching motions during operation, but also and mostly, because it can successfully be used when large motion ranges and a high stiffness are required. Nevertheless, the main disadvantage of Abe et al.'s design is that it is an over-actuated mechanism: it requires four instead of only three actuators. In this paper, we propose a variation on this mechanism which requires three actuators, thus simplifying its control and its potential cost. The kinematics of this new mechanism is studied in detail, including its forward and inverse kinematics, as well as its singularities.
Categories
automation.
Author keywords
Kinematics, parallel spherical mechanisms
Scientific reference
F. Thomas. Kinematics of a gear-based spherical mechanism, 18th International Symposium on Advances in Robot Kinematics, 2022, Bilbao, Vol 24 of Springer Proceedings in Advanced Robotics, pp. 323-331, Springer.
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