We report some recent advances in kinematics and singularity analysis of the mirror-symmetric - parallel wrists using symmetric space theory. We show that both the finite displacement and infinitesimal singularity kinematics of a - wrist are governed by the mirror symmetry property and half-angle property of the underlying motion manifold, which is a symmetric submanifold of the special Euclidean group SE(3). Our result is stronger than and may be considered a closure of Hunt's argument for instantaneous mirror symmetry in his pioneering exposition of constant velocity shaft couplings. Moreover, we show that the wrist can, to some extent, be treated as a spherical mechanism, even though dependent translation exists, and the singularity-free workspace of a - wrist may be analytically derived. This leads to a straightforward optimal design for maximal singularity-free workspace.
Skip Nav Destination
Article navigation
October 2017
Research-Article
Synthesis and Singularity Analysis of N- Parallel Wrists: A Symmetric Space Approach
Yuanqing Wu,
Yuanqing Wu
Department of Industrial Engineering,
University of Bologna,
Via Risorgimento 2,
Bologna 40136, Italy
e-mail: yuanqing.wu@unibo.it
University of Bologna,
Via Risorgimento 2,
Bologna 40136, Italy
e-mail: yuanqing.wu@unibo.it
Search for other works by this author on:
Marco Carricato
Marco Carricato
Department of Industrial Engineering,
University of Bologna,
Via Risorgimento 2,
Bologna 40136, Italy
e-mail: marco.carricato@unibo.it
University of Bologna,
Via Risorgimento 2,
Bologna 40136, Italy
e-mail: marco.carricato@unibo.it
Search for other works by this author on:
Yuanqing Wu
Department of Industrial Engineering,
University of Bologna,
Via Risorgimento 2,
Bologna 40136, Italy
e-mail: yuanqing.wu@unibo.it
University of Bologna,
Via Risorgimento 2,
Bologna 40136, Italy
e-mail: yuanqing.wu@unibo.it
Marco Carricato
Department of Industrial Engineering,
University of Bologna,
Via Risorgimento 2,
Bologna 40136, Italy
e-mail: marco.carricato@unibo.it
University of Bologna,
Via Risorgimento 2,
Bologna 40136, Italy
e-mail: marco.carricato@unibo.it
1Corresponding author.
Manuscript received January 2, 2017; final manuscript received August 3, 2017; published online August 24, 2017. Assoc. Editor: Jian S. Dai.
J. Mechanisms Robotics. Oct 2017, 9(5): 051013 (11 pages)
Published Online: August 24, 2017
Article history
Received:
January 2, 2017
Revised:
August 3, 2017
Citation
Wu, Y., and Carricato, M. (August 24, 2017). "Synthesis and Singularity Analysis of N- Parallel Wrists: A Symmetric Space Approach." ASME. J. Mechanisms Robotics. October 2017; 9(5): 051013. https://doi.org/10.1115/1.4037547
Download citation file:
Get Email Alerts
Cited By
Positioning error estimation models for horizontal-distributed PUU parallel mechanism
J. Mechanisms Robotics
A Cable-Based Haptic Interface with a Reconfigurable Structure
J. Mechanisms Robotics
Prediction of Human Reaching Pose Sequences In Human-Robot Collaboration
J. Mechanisms Robotics
The database generation for planar 2-DOF fractionated multiple-joint kinematic chains
J. Mechanisms Robotics
Related Articles
Design and Analysis of 3R2T and 3R3T Parallel Mechanisms With High Rotational Capability
J. Mechanisms Robotics (February,2016)
Design and Kinematic Analysis of a Flexible-Link Parallel Mechanism With a Spatially Quasi-Translational End Effector
J. Mechanisms Robotics (February,2021)
Motion/Force Transmission Analysis of Planar Parallel Mechanisms With Closed-Loop Subchains
J. Mechanisms Robotics (August,2016)
Related Chapters
Infinitesimal Mechanics of the PKMs
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy
Motion Analysis for Multilayer Sheets
Ultrasonic Welding of Lithium-Ion Batteries
Data Tabulations
Structural Shear Joints: Analyses, Properties and Design for Repeat Loading