DocumentCode
133498
Title
Design and testing of a spherical parallel mini manipulator
Author
Palmieri, Giacomo ; Callegari, Massimo ; Carbonari, Luca ; Palpacelli, M.C.
Author_Institution
Fac. of Eng., eCampus Univ., Novedrate, Italy
fYear
2014
fDate
10-12 Sept. 2014
Firstpage
1
Lastpage
6
Abstract
The article describes the design, prototyping and preliminary testing of a miniaturized spherical parallel manipulator (SPM) with 2 DOFs of rotation, conceived to handle the orientation of a mobile platform during the assembly of very small components. The paper summarizes the basic equations of position and differential kinematics, and describes all the project phases for the realization of the first prototype. Furthermore, experimental data of preliminary tests are presented.
Keywords
design engineering; manipulator kinematics; micromanipulators; testing; design; differential kinematics; prototyping; spherical parallel minimanipulator; testing; Assembly; Equations; Joints; Kinematics; Manipulators; Mobile communication; Torque; Micromechanics; Mini Assembly; Mini Robot; Parallel Kinematics Machines; Spherical Manipulator;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronic and Embedded Systems and Applications (MESA), 2014 IEEE/ASME 10th International Conference on
Conference_Location
Senigallia
Print_ISBN
978-1-4799-2772-2
Type
conf
DOI
10.1109/MESA.2014.6935523
Filename
6935523
Link To Document