Analytische Chemie
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In robotic applications, it is often necessary to orient a sensor quickly. Spherical parallel manipulators (SPM) are well suited for this purpose since they offer superior dynamics and structural stiffness as compared to serial manipulators. To control them, however, the kinematic equations have to be known. In this paper, a SPM with three degrees of freedom and the kinematic equations describing its mechanical properties are presented.
In robotic applications, it is often necessary to orient a sensor quickly. Spherical parallel manipulators (SPM) are well suited for this purpose since they offer superior dynamics and structural stiffness as compared to serial manipulators. To control them, however, the kinematic equations have to be known. In this paper, a SPM with three degrees of freedom and the kinematic equations describing its mechanical properties are presented.
In mobile robot applications, some sensors such as open-path gas detectors or laser rangefinders need to be aimed at specific targets in order to get the desired measurements. To do this in a fast and elegant manner, we present a spherical parallel manipulator with three degrees of freedom. Compared to typical serial manipulators, it offers superior dynamics and structural stiffness, which are important parameters for this type of task. We present the mechanical design and derive kinematic equations both to compute set-points for the desired orientation and to estimate the current state of the system. A PID controller is used to generate control signals.