Design of a spherical parallel robotic wrist mechanism
This document presents the process of design, manufacturing, and testing of a coaxial spherical parallel manipulator as the mechanism for a robotic wrist. To achieve this, a kinematic model of the mechanism was developed from which was possible to determine the best parameters to guarantee the desir...
- Autores:
-
Fernández Mier, Mateo De Jesús
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2024
- Institución:
- Universidad de los Andes
- Repositorio:
- Séneca: repositorio Uniandes
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.uniandes.edu.co:1992/74242
- Acceso en línea:
- https://hdl.handle.net/1992/74242
- Palabra clave:
- Parallel robotics
Spherical parallel manipulator
Kinematics
Dexterity analysis
Robotic wrist
Ingeniería
- Rights
- openAccess
- License
- Attribution-NonCommercial 4.0 International
| Summary: | This document presents the process of design, manufacturing, and testing of a coaxial spherical parallel manipulator as the mechanism for a robotic wrist. To achieve this, a kinematic model of the mechanism was developed from which was possible to determine the best parameters to guarantee the desired performance. All together with the use of 3D printing as manufacturing method, and the development of a simulation environment and a GUI for the proper control of the device, different types of positions and movements of the mechanism were tested. |
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