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Parallel Spherical Mechanisms with Actuator Redundancy

Parallel mechanisms may provide for 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 class of spherical mechanism having these properties. They have been modeled in terms of 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.
V. Hayward, R. Kurtz

Thierry Baron
Mon Nov 13 10:43:02 EST 1995