Conference Proceedings
Novel 3-DOF Reconfigurable Spherical Motion Generator with unlimited workspace
SH Ip, C Chen, D Oetomo
Proceedings of the 2009 Australasian Conference on Robotics and Automation Acra 2009 | Published : 2009
Abstract
In this paper, an innovative Reconfigurable Spherical Motion Generator (RSMG) is introduced to provide continuous spherical motion and force transmission. The mechanism enables unlimited workspace in 3-DOF spherical motion with rapid, continuous and precise motion capability. The conceptual design, as well as direct and inverse kinematics, are presented here. Singularities of the mechanism are analyzed. An actuation strategy is proposed such that the RSMG is capable of avoiding any types of singularities in order to produce unlimited spherical motion.