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Multibody Analysis and Design of a Reconfigurable Parallel Kinematics Manipulator

[+] Author Affiliations
Matteo Palpacelli, Massimo Callegari

Polytechnic University of Marche, Ancona, AN, Italy

Luca Carbonari

Istituto Italiano di Tecnologia, Genoa, GE, Italy

Giacomo Palmieri

eCampus University, Novedrate, CO, Italy

Paper No. DETC2015-47399, pp. V009T07A076; 9 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5719-9
  • Copyright © 2015 by ASME


This paper presents the design of a reconfigurable parallel kinematics machine endowed with three degrees of freedom of pure translation, or alternately of pure rotation. Such reconfigurability results from the use of lockable spherical joints, which realize the connection between each robot leg and the moving platform. Three actuated legs are used to drive the platform motion. The change of configuration occurs only at a specific pose, called home configuration. A control strategy allows to manage the shift phase and activate the two mobilities one at a time. Multibody simulations allowed to analyze the dynamic behavior of the manipulator and to verify the choices made with regard to the robot mechanics and the size of actuation systems. Position and differential kinematics of the manipulator are briefly introduced in order to demonstrate the simplicity of the analytic expressions and the mechanical feasibility of the manipulator.

Copyright © 2015 by ASME



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