Research Papers

A Redundantly Actuated 2-Degrees-of-Freedom Mini Pointing Device

[+] Author and Article Information
Matteo-Claudio Palpacelli

 Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, v. Brecce Bianche, Ancona, Italym.palpacelli@univpm.it

Giacomo Palmieri

 eCampus University, v. Isimbardi 10, 22060, Novedrate (CO), Italygiacomo.palmieri@uniecampus.it

Massimo Callegari

Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of MarcheAncona, Italym.callegari@univpm.it

J. Mechanisms Robotics 4(3), 031012 (Jul 03, 2012) (10 pages) doi:10.1115/1.4006833 History: Received January 11, 2012; Revised April 27, 2012; Published July 03, 2012; Online July 03, 2012

This article presents the concept of a novel parallel kinematics manipulator (PKM) designed for miniature scale applications. A flexible universal joint made of superelastic material provides the device two rotational degrees of freedom, which are redundantly driven by three linear actuators that push against the mobile platform with a sphere-plane unilateral constraint. The kinematic and structural behavior of the flexible joint and the overall kinetostatic performance of the manipulator are investigated. Eventually a preliminary design is proposed, aimed at creating a physical prototype of the machine.

Copyright © 2012 by American Society of Mechanical Engineers
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Figure 10

“Squiggle” piezoelectric motor and a laboratory workbench for the test

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Figure 11

Sketch of the mechanical design of the mini manipulator

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Figure 12

Forces and moments acting on the moving platform

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Figure 7

Geometry of the universal joint and a rapid prototyping mock-up at 2:1 scale

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Figure 8

Results of the FE simulations: (a) elastic deformation of the joint for an applied moment Mx = 10 Nmm in terms of point displacements [mm]; (b) Von Mises equivalent stress [MPa] for a rotation of 14 deg reached simultaneously around both x and y axes

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Figure 3

Direct kinematics singularities in the operational space (θu , θv ) for each couple of actuated joints: (a) 1 and 2, (b) 2 and 3, and (c) 3 and 1

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Figure 4

Singularity-free regions in (θu , θv ) plane for increasing d/|e| ratios

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Figure 5

Influence of parameter c on sliding velocity between ith sphere and platform

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Figure 6

Mean value and standard deviation of overall sliding velocity as a function of c/r (d/r parameterized)

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Figure 9

Sphere of radius 0.15 mm, within which the projections Ci of the instantaneous axes of rotation are bounded

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Figure 1

Sketch of the 2-dof orientation platform: overconstrained (a) and isostatic (b) concepts

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Figure 2

Kinematic chains and frames setting



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