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    Decoupled and Homokinetic Transmission of Rotational Motion via Constant-Velocity Joints in Closed-Chain Orientational Manipulators

    Source: Journal of Mechanisms and Robotics:;2009:;volume( 001 ):;issue: 004::page 41008
    Author:
    Marco Carricato
    DOI: 10.1115/1.3211025
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper presents novel 2DOF and 3DOF closed-chain orientational manipulators, whose end-effector motion is actuated in a decoupled and homokinetic way by frame-located motors via holonomic transmissions based on constant-velocity couplings. The functioning of these couplings is investigated and the conditions applying for homokinetic transmission to be preserved during simultaneous motor drive are revealed and implemented. As a result, decoupled and configuration-independent relations between the motor rates and the time-derivatives of the variables describing the end-effector orientation are achieved. The attainment of analogous relations between the motor speeds and the components of the end-effector angular velocity is conversely proven to be unfeasible. The problem of singularities is furthermore examined, showing that input-output homokinesis is not a sufficient condition for a globally uniform kinetostatic behavior of the mechanism, which may, indeed, possibly reach uncertainty singular configurations. The connecting chains of the most typical constant-velocity couplings are analyzed, in order to obtain analytical expressions for the functions on which such singularities depend. The influence of design parameters is accordingly inspected. The results are valuable for the type and dimension synthesis of closed-chain wrists free from direct kinematic singularities, and characterized by simple kinematics and regular input-output kinetostatic relations.
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      Decoupled and Homokinetic Transmission of Rotational Motion via Constant-Velocity Joints in Closed-Chain Orientational Manipulators

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    http://yetl.yabesh.ir/yetl1/handle/yetl/141466
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    contributor authorMarco Carricato
    date accessioned2017-05-09T00:34:33Z
    date available2017-05-09T00:34:33Z
    date copyrightNovember, 2009
    date issued2009
    identifier issn1942-4302
    identifier otherJMROA6-27986#041008_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/141466
    description abstractThis paper presents novel 2DOF and 3DOF closed-chain orientational manipulators, whose end-effector motion is actuated in a decoupled and homokinetic way by frame-located motors via holonomic transmissions based on constant-velocity couplings. The functioning of these couplings is investigated and the conditions applying for homokinetic transmission to be preserved during simultaneous motor drive are revealed and implemented. As a result, decoupled and configuration-independent relations between the motor rates and the time-derivatives of the variables describing the end-effector orientation are achieved. The attainment of analogous relations between the motor speeds and the components of the end-effector angular velocity is conversely proven to be unfeasible. The problem of singularities is furthermore examined, showing that input-output homokinesis is not a sufficient condition for a globally uniform kinetostatic behavior of the mechanism, which may, indeed, possibly reach uncertainty singular configurations. The connecting chains of the most typical constant-velocity couplings are analyzed, in order to obtain analytical expressions for the functions on which such singularities depend. The influence of design parameters is accordingly inspected. The results are valuable for the type and dimension synthesis of closed-chain wrists free from direct kinematic singularities, and characterized by simple kinematics and regular input-output kinetostatic relations.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleDecoupled and Homokinetic Transmission of Rotational Motion via Constant-Velocity Joints in Closed-Chain Orientational Manipulators
    typeJournal Paper
    journal volume1
    journal issue4
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.3211025
    journal fristpage41008
    identifier eissn1942-4310
    treeJournal of Mechanisms and Robotics:;2009:;volume( 001 ):;issue: 004
    contenttypeFulltext
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