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

Download the digital copy of the doc pdf document

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, pp. 323-331, Springer.