Working and Assembly Modes of the Agile Eye

Ilian Bonev (1) , Damien Chablat (2) , Philippe Wenger (2)

1 GPA - Département de génie de la production automatisée
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with revolute joints in which all pairs of adjacent joint axes are orthogonal. Its most peculiar feature, demonstrated in this paper for the first time, is that its (orientation) workspace is unlimited and flawed only by six singularity curves (rather than surfaces). Furthermore, these curves correspond to self-motions of the mobile platform. This paper also demonstrates that, unlike for any other such complex spatial robots, the four solutions to the direct kinematics of the Agile Eye (assembly modes) have a simple geometric relationship with the eight solutions to the inverse kinematics (working modes).

Mots clés: Working modes; Assembly Modes; Agile eye; kinematic analysis; Singularity; Parallel mechanism

Domaines: Robotique [cs.RO]

Ilian Bonev, Damien Chablat, Philippe Wenger. Working and Assembly Modes of the Agile Eye. IEEE International Conference On Robotics And Automation, May 2006, Orlando, United States. pp.2317-2322. ⟨hal-00168519⟩