In this paper, the dynamic stability problem of a parallel wrist mechanism is studied by means of monodromy matrix method. This manipulator adopts a universal joint as the ball-socket mechanism to support the mobile platform and to transmit the motion/torque between the input shaft and the end-effector. The linearized equations of motion of the mechanical system are established to analyze its stability according to the Floquet theory. The unstable regions are presented graphically in various parametric charts.
CITATION STYLE
Wu, G., & Caro, S. (2019). Torsional Stability of a U-Joint Based Parallel Wrist Mechanism Featuring Infinite Torsion. In CISM International Centre for Mechanical Sciences, Courses and Lectures (Vol. 584, pp. 147–154). Springer International Publishing. https://doi.org/10.1007/978-3-319-78963-7_20
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