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Abstract: This paper deals with the in-depth kinematic analysis of a special sphericalparallel wrist, called the Agile Eye. The Agile Eye is a three-legged sphericalparallel robot with revolute joints in which all pairs of adjacent joint axesare orthogonal. Its most peculiar feature, demonstrated in this paper for thefirst time, is that its orientation workspace is unlimited and flawed only bysix singularity curves rather than surfaces. Furthermore, these curvescorrespond to self-motions of the mobile platform. This paper also demonstratesthat, unlike for any other such complex spatial robots, the four solutions tothe direct kinematics of the Agile Eye assembly modes have a simple geometricrelationship with the eight solutions to the inverse kinematics workingmodes.



Autor: Ilian Bonev GPA, Damien Chablat IRCCyN, Philippe Wenger IRCCyN

Fuente: https://arxiv.org/







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