Affiliation:
1. DIEM—Department of Mechanical Engineering, University of Bologna, Viale Risorgimento 2, 40136 Bologna, Italy,
Abstract
In this paper we present a novel pointing parallel mechanism with fully decoupled degrees of freedom. The mechanism consists of two interconnected slider-crank linkages, each one of which independently actuates one of the Euler angles of the output link. Motors can be mounted on the frame. The parallel architecture provides the mechanism with compactness and robustness, while decoupling of motion guarantees a wide workspace, an easy mathematical treatment, and a simple control. Such a mechanism may be suitable for applications that require aiming bodies such as tools, telescopes, antennas, cameras, solar panels, human or humanoid artificial limbs, particularly if requisites on dimensions and stoutness on the one hand and mobility on the other are stringent.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
Cited by
98 articles.
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