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Parallel Spherical Mechanism with Actuator Redundancy

Authors: [tex2html_wrap4278]V. Hayward, R. Kurtz

Investigator username: hayward

Category: robotics

Subcategory: manipulators and actuators

Parallel mechanisms are known for their structural rigidity and good dynamic performance, however their utility is generally limited by an inherently small workspace. The use of actuator redundancy can simultaneously increase the workspace and remove singularities. We have devised a novel spherical mechanism having these properties. It has been modeled in terms of its kinematics, workspace, singular configurations and finally dexterity. A novel method to perform multi-goal optimization has been devised to determine the set of optimal and realizable designs.