The static analysis of a parallel wrist known as 3-UPU wrist is presented and the 3-UPU wrist singularity conditions are interpreted from the statics' point of view. An equation (singularity equation) that enables to find all the 3-UPU wrist singular configurations is written in explicit form. Moreover, the use of the Rodrigues parameters to parameterize the 3-UPU wrist platform orientation allows the singularity equation to become a fourth degree polynomial equation in three unknowns. Finally a numerical example is presented.
Statics and singularity loci of the 3-UPU wrist
DI GREGORIO, Raffaele
2001
Abstract
The static analysis of a parallel wrist known as 3-UPU wrist is presented and the 3-UPU wrist singularity conditions are interpreted from the statics' point of view. An equation (singularity equation) that enables to find all the 3-UPU wrist singular configurations is written in explicit form. Moreover, the use of the Rodrigues parameters to parameterize the 3-UPU wrist platform orientation allows the singularity equation to become a fourth degree polynomial equation in three unknowns. Finally a numerical example is presented.File in questo prodotto:
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