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Challenges for Mechanism Design in Robotics Read chapter Read first chapter

2019 | OriginalPaper | Chapter

Torsional Stability of a U-Joint Based Parallel Wrist Mechanism Featuring Infinite Torsion

Authors : Guanglei Wu, Stéphane Caro

Published in: ROMANSY 22 – Robot Design, Dynamics and Control

Publisher: Springer International Publishing

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Abstract

In this paper, the dynamic stability problem of a parallel wrist mechanism is studied by means of monodromy matrix method. This manipulator adopts a universal joint as the ball-socket mechanism to support the mobile platform and to transmit the motion/torque between the input shaft and the end-effector. The linearized equations of motion of the mechanical system are established to analyze its stability according to the Floquet theory. The unstable regions are presented graphically in various parametric charts.

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Metadata
Title
Torsional Stability of a U-Joint Based Parallel Wrist Mechanism Featuring Infinite Torsion
Authors
Guanglei Wu
Stéphane Caro
Copyright Year
2019
Book
ROMANSY 22 – Robot Design, Dynamics and Control

Print ISBN: 978-3-319-78962-0

Electronic ISBN: 978-3-319-78963-7

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-319-78963-7_20