Abstract
The article presents the preliminary studies for the prototyping of a spherical parallel robot for miniaturized assembly applications. The closed-form solution of robot’s kinematics allowed to optimize its (rotation) workspace by taking into account all singularity surfaces and the maximum strokes of the linear actuators. Then, in view of flexures design, the maximum rotations of the passive joints have been calculated and finally the design of the legs and of the whole robot has been carried out by means of a FEM software, with due regard to the non-linearities arising from large displacements.
Full Text 
Sign-in/Register to access full text options
Sign-in/Register to access full text options 
Published version (
Free)
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
