Event Details
Application of Dual Algebra to the Robust Design and Analysis of Spherical Manipulators
Presenter: Professor Jorge Angeles - Department of Mechanical Engineering, McGill University
Supervisor:
Date: Thu, April 3, 2003
Time: 15:00:00 - 16:00:00
Place: EOW 430
ABSTRACT
Abstract:
Proposed in this seminar are guidelines for the design of the non-actuated joints of a three-degree-of-freedom spherical parallel manipulator in the presence of manufacturing errors. This is needed because of the impossibility of manufacturing a spherical mechanism in such a way that all its joint axes are concurrent at a single point.
In order to account for the unavoidable manufacturing errors, it is proposed to replace the non-actuated revolute (R) joints of an existing design by cylindrical (C) joints. The latter function even in the presence of non-concurrent axes. An algorithm, based on dual numbers, that computes the output angles and translations of the RCCC leg linkage is developed. Thereafter, a similar procedure is used to devise an algorithm for the inverse kinematics of the entire mechanism in order to determine the rotations and translations of each joint.