Torsional Stability of a U–joint based Parallel Wrist Mechanism Featuring Infinite Torsion

Abstract : 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 instable regions are presented graphically in various parametric charts.
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Guanglei Wu, Stéphane Caro. Torsional Stability of a U–joint based Parallel Wrist Mechanism Featuring Infinite Torsion. The 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control, Jun 2018, Rennes, France. ⟨hal-01757541⟩

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