This paper presents a dynamic model of parallel wrists with all links constrained to have a spherical motion with the same center. The model can also be applied to serial wrists. The model, based on Lagrangian formulation of dynamics, exploits the feature that all the links have the same fixed point. Three parameters defining the platform orientation are used as generalized coordinates. This choice allows the use of the generalized inertia matrix (GIM) appearing in the model to calculate effective dynamic performance indices proposed in a previous paper. The model can solve both the direct and the inverse dynamic problems. It also contains the Jacobian matrix useful to characterize the kinematic behavior of parallel manipulators. By the model it is shown that the best performances are reached in the workspace regions where the manipulator has a good kinematic and dynamic isotropy, whereas the incidence of nonlinear forces on performances is relevant at high end-effector speed. A numerical example is provided.
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Dynamics of a Class of Parallel Wrists
Raffaele Di Gregorio,
e-mail: rdigregorio@ing.unife.it
Raffaele Di Gregorio
Department of Engineering, University of Ferrara, Via Saragat, 1 44100 Ferrara, Italy
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Vincenzo Parenti-Castelli
Vincenzo Parenti-Castelli
DIEM-University of Bologna, Viale Risorgimento, 2 40136 Bologna, Italy
vincenzo.parenticastelli@mail.ing.unibo.it
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Raffaele Di Gregorio
Department of Engineering, University of Ferrara, Via Saragat, 1 44100 Ferrara, Italy
e-mail: rdigregorio@ing.unife.it
Vincenzo Parenti-Castelli
vincenzo.parenticastelli@mail.ing.unibo.it
DIEM-University of Bologna, Viale Risorgimento, 2 40136 Bologna, Italy
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received April 2003; revised October 2003. Associate Editor: G. R. Pennock.
J. Mech. Des. May 2004, 126(3): 436-441 (6 pages)
Published Online: October 1, 2003
Article history
Received:
April 1, 2003
Revised:
October 1, 2003
Citation
Di Gregorio, R., and Parenti-Castelli, V. (October 1, 2003). "Dynamics of a Class of Parallel Wrists ." ASME. J. Mech. Des. May 2004; 126(3): 436–441. https://doi.org/10.1115/1.1737382
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