Kinematic analysis of a 3-RRR spherical parallel mechanism with configurable base

T. Essomba; M. A. Laribi; Y. Hsu; S. Zeghloul

doi:10.1007/978-3-030-00365-4_13

Kinematic analysis of a 3-RRR spherical parallel mechanism with configurable base

T. Essomba, M. A. Laribi, Y. Hsu, S. Zeghloul

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

1 Scopus citations

Abstract

The 3-RRR Spherical Parallel Mechanism is an architecture that generates a Remote Center of Motion. The present work proposes to study the mechanism behavior by modifying its base configuration. A new mechanical architecture concept is introduced to modify the mechanism base configuration. This reconfiguration is then described by a new design parameter that issues a new kinematic model. The influence of this parameter is studied on two different aspects: the mechanism workspace and kinematic performances. Several observations are finally made on the mechanism new behavior.

Original language	English
Pages (from-to)	101-109
Number of pages	9
Journal	Mechanisms and Machine Science
Volume	66
DOIs	https://doi.org/10.1007/978-3-030-00365-4_13
State	Published - 2019

Keywords

Dexterity
Kinematics
Reconfigurable mechanism
Spherical parallel mechanism
Workspace

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10.1007/978-3-030-00365-4_13

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abstract = "The 3-RRR Spherical Parallel Mechanism is an architecture that generates a Remote Center of Motion. The present work proposes to study the mechanism behavior by modifying its base configuration. A new mechanical architecture concept is introduced to modify the mechanism base configuration. This reconfiguration is then described by a new design parameter that issues a new kinematic model. The influence of this parameter is studied on two different aspects: the mechanism workspace and kinematic performances. Several observations are finally made on the mechanism new behavior.",

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AU - Laribi, M. A.

AU - Hsu, Y.

AU - Zeghloul, S.

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Y1 - 2019

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AB - The 3-RRR Spherical Parallel Mechanism is an architecture that generates a Remote Center of Motion. The present work proposes to study the mechanism behavior by modifying its base configuration. A new mechanical architecture concept is introduced to modify the mechanism base configuration. This reconfiguration is then described by a new design parameter that issues a new kinematic model. The influence of this parameter is studied on two different aspects: the mechanism workspace and kinematic performances. Several observations are finally made on the mechanism new behavior.

KW - Dexterity

KW - Kinematics

KW - Reconfigurable mechanism

KW - Spherical parallel mechanism

KW - Workspace

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VL - 66

SP - 101

EP - 109

JO - Mechanisms and Machine Science

JF - Mechanisms and Machine Science

ER -

Kinematic analysis of a 3-RRR spherical parallel mechanism with configurable base

Abstract

Keywords

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