Argos: A Novel 3-DoF Parallel Wrist Mechanism

This article presents a novel parallel spherical mechanism called Argos with three rotational degrees of freedom. Design aspects of the first prototype built of the Argos mechanism are discussed. The direct kinematic problem is solved, leading always to four nonsingular configurations of the end eff...

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Bibliographic Details
Published in:The International journal of robotics research 2000-01, Vol.19 (1), p.5-11
Main Authors: Vischer, Peter, Clavel, Reymond
Format: Article
Language:English
Subjects:
DEGREES OF FREEDOM
DESIGN
ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION
MACHINE TOOLS
MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
MOTION
ROBOTS
USES
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Summary:This article presents a novel parallel spherical mechanism called Argos with three rotational degrees of freedom. Design aspects of the first prototype built of the Argos mechanism are discussed. The direct kinematic problem is solved, leading always to four nonsingular configurations of the end effector for a given set of joint angles. The inverse-kinematic problem yields two possible configurations for each of the three pantographs for a given orientation of the end effector. Potential applications of the Argos mechanism are robot wrists, orientable machine tool beds, joy sticks, surgical manipulators, and orientable units for optical components. Another pantograph based new structure named PantoScope having two rotational DoF is also briefly introduced.
ISSN:0278-3649
1741-3176
DOI:10.1177/02783640022066707