Spherical Parallel Manipulators

The Agile Eye by Gosselin, Université Laval:

The Agile Eye is a 3-DOF 3-RRR spherical parallel manipulator developed for the rapid orientation of a camera. Its mechanical architecture leads to high velocities and accelerations.

The workspace of the Agile Eye is superior to that of the human eye. The miniature camera attached to the end-effector can be pointed in a cone of vision of 140° with ±30° in torsion. Moreover, due to its low inertia and its inherent stiffness, the mechanism can achieve angular velocities above 1000 °/sec and angular accelerations greater than 20000 °/sec2 which is beyond the capabilities of the human eye... (cont'd)

Hip Joint of the Bipedal Autonomous Robot LISA by Institute of Automatic Control:

The hip joint consists of three active rotational degrees of freedom whose rotational axes intersect in one point. In contrast to most hip joints of other bipedal robots LISA's hip joint are built as spherical parallel manipulators. A comparable cardanian joint would lead to a heavier weight and due to the functionality the masses of some engines would have to be accelerated by other engines during motion.

Due to the parallel manipulator all engines rest to the trunk. Only a coordinated interaction of all engines leads to a controlled motion of the thigh. This enables a design with a thigh of minimal and a trunk of maximal weight which is an advantageous weight distribution for bipedal walking. Because of the parallel manipulator structure forces applied on the thigh are distributed among all three engines and therefore the power of the engines adds up... (cont'd)

Comments (0)

This post does not have any comments. Be the first to leave a comment below.

Post A Comment

You must be logged in before you can post a comment. Login now.

Featured Product

Allied Motion - Brushless Torque Motors: Frameless & Housed

Allied Motion - Brushless Torque Motors: Frameless & Housed

Allied Motion offers both housed and frameless families of brushless torque motors. These motors are among the highest performance torque motors available. Frameless diameters range from 19 through 792 mm with stall torque ranging up to 2020 Nm. All housed torque motors are available with integrated encoder and the MFH models include an integrated servo drive. Custom-engineered models to meet specific requirements are our specialty. Learn more about Allied Motion Brushless Torque Motors