Abstract
A novel parallel robot stemming from the 3-SRU (spherical-revolute-universal) under - actuated joints topology is presented in this paper. The conceptual design here proposed takes advantage of a reconfigurable universal joint obtained by locking, one at a time, different rotations of a spherical pair by means of an automatized system. Such local reconfiguration causes a slight modification of the robot legs mobility which is enough to provide the end-effector with different kinds of motion. The first part of the paper is dedicated at formally demonstrating the motion capabilities offered by the 3-URU kinematics; in the second part, a mechanical solution for the realization of the reconfigurable joint is shown.
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Carbonari, L., Corinaldi, D., Palpacelli, M., Palmieri, G., Callegari, M. (2018). A Novel Reconfigurable 3-URU Parallel Platform. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_8
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DOI: https://doi.org/10.1007/978-3-319-61276-8_8
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