Kazuki Abe and his collaborators have recently presented an actuated gear-based spherical mechanism called ABENICS. It has received a lot of attention, not only because of its eye-catching motions during operation, but also and mostly, because it can successfully be used when large motion ranges and a high stiffness are required. Nevertheless, the main disadvantage of Abe et al.’s design is that it is an over-actuated mechanism: it requires four instead of only three actuators. In this paper, we propose a variation on this mechanism which requires three actuators, thus simplifying its control and its potential cost. The kinematics of this new mechanism is studied in detail, including its forward and inverse kinematics, as well as its singularities.
Kinematics of a Gear-Based Spherical Mechanism
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
9 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Kinematics of a Gear-Based Spherical Mechanism
TIBKAT | 2022
|Geometry and kinematics for a spherical-base integrated parallel mechanism
BASE | 2016
|Application of computational kinematics in the digital mechanism and gear library DMG-Lib
Online Contents | 2006
|The kinematics of the rotary into helical gear transmission
Online Contents | 2017
|Europäisches Patentamt | 2023
|