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Chapitre D'ouvrage Année : 2019

Torsional Stability of a U-Joint Based Parallel Wrist Mechanism Featuring Infinite Torsion

Résumé

In this paper, the dynamic stability problem of a parallel wrist mechanism is studied by means of monodromy matrix method. This manipulator adopts a universal joint as the ball-socket mechanism to support the mobile platform and to transmit the motion/torque between the input shaft and the end-effector. The linearized equations of motion of the mechanical system are established to analyze its stability according to the Floquet theory. The instable regions are presented graphically in various parametric charts.
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Dates et versions

hal-02405586 , version 1 (11-12-2019)

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Guanglei Wu, Stéphane Caro. Torsional Stability of a U-Joint Based Parallel Wrist Mechanism Featuring Infinite Torsion. In: Arakelian V., Wenger P. (eds) ROMANSY 22 - Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences (Courses and Lectures), Vol. 584, Springer, Cham., pp.147-154, 2019, ⟨10.1007/978-3-319-78963-7_20⟩. ⟨hal-02405586⟩
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