This study delves into the analysis of spherical (SO(3)) type parallel robots' variants using an analytical velocity-level approach. The research aims to explore all possible variants systematically to unleash the benefits derived from architectural diversity. By employing a generalized analytical approach through the reciprocal screw method, the study identifies 73 non-redundant limb types suitable for generating SO(3) motion. The exploration involves in-depth algebraic motion-constraint analysis and identification of common characteristics among different variants. This leads to the systematic exploration of all 73 symmetric and 5256 asymmetric variants, totaling 5329, each potentially having different workspace capability, stiffness performance, and dynamics. Having access to these variants can facilitate innovation in novel spherical robots and aid in finding optimal ones for specific applications.
The study focuses on understanding the kinematic conditions required for adapting these robots for specific applications. It delves into geometric requirements for SO(3) motion generation and addresses specific algebraic conditions important for enumerating suitable limbs for this type of robot. By analyzing various limb structures and their characteristics, the study aims to provide insights into selecting the most suitable robot configurations based on performance criteria.
Furthermore, detailed analyses are conducted on various limb systems such as 5$0, 4$0 - 1$∞, 3$0 - 2$∞, and more to derive necessary and sufficient conditions for each system's functionality. The research also highlights geometric conditions that need to be considered when designing SO(3) type parallel robots. Overall, this comprehensive study sheds light on a wide array of limb variants essential for constructing innovative spherical robots.
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arxiv.org
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by Hassen Nigat... ב- arxiv.org 03-07-2024
https://arxiv.org/pdf/2403.03505.pdfשאלות מעמיקות