TY - JOUR
T1 - 2-DOF Spherical Parallel Mechanism Capable of Biaxial Swing Motion with Active Arc Sliders
AU - Saiki, Naoto
AU - Tadakuma, Kenjiro
AU - Watanabe, Masahiro
AU - Takane, Eri
AU - Nobutoki, Masashi
AU - Suzuki, Shintaro
AU - Konyo, Masashi
AU - Tadokoro, Satoshi
N1 - Funding Information:
Manuscript received October 16, 2020; accepted February 14, 2021. Date of publication March 8, 2021; date of current version April 13, 2021. This letter was recommended for publication by Associate Editor X. Kong and Editor C. Gosselin upon evaluation of the reviewers’ comments. This work was supported by the Aisin Seiki Corporation. (Naoto Saiki, Kenjiro Tadakuma and Masahiro Watanabe contributed equally to this work.) (Corresponding author: Kenjiro Tadakuma.) Naoto Saiki is with the Graduation School of Information Sciences, Tohoku University, Miyagi, Sendai 9808579, Japan (e-mail: saiki.naoto@rm.is.tohoku.ac.jp).
Publisher Copyright:
© 2016 IEEE.
PY - 2021/7
Y1 - 2021/7
N2 - Most articulated robots comprise multiple joints and links that control the position and posture of the end effector. The kinematic pair arrangement determines characteristics such as output force. The link configurations can be classified as serial link and parallel link mechanisms. A typical parallel link mechanism is the spherical parallel mechanism (SPM), designed to ensure that the end effector has only rotational degrees of freedom. However, the kinematic pair arrangement has not been sufficiently examined in two degrees of freedom (2-DOF) SPMs. Herein, we present a basic design method for the proposed 2-DOF SPM curved biaxial swing mechanism, with inputs comprising arc sliders. The swinging area of the passive link was small, and infinite rotation around a certain axis was achieved without collision or transfer to a singular posture. Using the kinematics of this mechanism, we clarified the linear roll output and non-linear pitch output. Moreover, we fabricated a prototype and measured its basic drive characteristics. The results revealed that the output performance was greatly dependent on the rotation angle, high movable range in the roll axis, and low movable range in the pitch axis.
AB - Most articulated robots comprise multiple joints and links that control the position and posture of the end effector. The kinematic pair arrangement determines characteristics such as output force. The link configurations can be classified as serial link and parallel link mechanisms. A typical parallel link mechanism is the spherical parallel mechanism (SPM), designed to ensure that the end effector has only rotational degrees of freedom. However, the kinematic pair arrangement has not been sufficiently examined in two degrees of freedom (2-DOF) SPMs. Herein, we present a basic design method for the proposed 2-DOF SPM curved biaxial swing mechanism, with inputs comprising arc sliders. The swinging area of the passive link was small, and infinite rotation around a certain axis was achieved without collision or transfer to a singular posture. Using the kinematics of this mechanism, we clarified the linear roll output and non-linear pitch output. Moreover, we fabricated a prototype and measured its basic drive characteristics. The results revealed that the output performance was greatly dependent on the rotation angle, high movable range in the roll axis, and low movable range in the pitch axis.
KW - actuation and joint mechanisms
KW - Mechanism design
KW - parallel robots
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U2 - 10.1109/LRA.2021.3064187
DO - 10.1109/LRA.2021.3064187
M3 - Article
AN - SCOPUS:85102634411
SN - 2377-3766
VL - 6
SP - 4680
EP - 4687
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 3
M1 - 9372822
ER -