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Robotics
Volume 11
Issue 2
10.3390/robotics11020030
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Article

Novel Reconfigurable Spherical Parallel Mechanisms with a Circular Rail

by
Pavel Laryushkin
1,
Anton Antonov
2,
Alexey Fomin
2,* and
Victor Glazunov
2
1
Department of Fundamentals of Machine Design, Bauman Moscow State Technical University (BMSTU), 105005 Moscow, Russia
2
Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia
*
Author to whom correspondence should be addressed.
Robotics 2022, 11(2), 30; https://doi.org/10.3390/robotics11020030
Submission received: 31 December 2021 / Revised: 13 February 2022 / Accepted: 20 February 2022 / Published: 22 February 2022
(This article belongs to the Special Issue Service Robotics against COVID-2019 Pandemic)
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Abstract

The COVID-19 pandemic has placed unprecedented stress on the world healthcare system and demonstrated the need for modern automated robotic solutions for numerous medical applications. Often, robots that provide spherical motion of the end-effector are used in this area. In this paper, we discuss a spherical mechanism with a circular rail and provide several possible variations of the design: spherical robots with three or four legs and 4-DOF robots with an additional translational DOF, including a decoupled mechanism. The screw theory is used to analyze the mobility of the discussed mechanisms, and their advantages and drawbacks are discussed.
Keywords: parallel manipulator; spherical mechanism; circular rail; mobility analysis; screw theory parallel manipulator; spherical mechanism; circular rail; mobility analysis; screw theory

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MDPI and ACS Style

Laryushkin, P.; Antonov, A.; Fomin, A.; Glazunov, V. Novel Reconfigurable Spherical Parallel Mechanisms with a Circular Rail. Robotics 2022, 11, 30. https://doi.org/10.3390/robotics11020030

AMA Style

Laryushkin P, Antonov A, Fomin A, Glazunov V. Novel Reconfigurable Spherical Parallel Mechanisms with a Circular Rail. Robotics. 2022; 11(2):30. https://doi.org/10.3390/robotics11020030

Chicago/Turabian Style

Laryushkin, Pavel, Anton Antonov, Alexey Fomin, and Victor Glazunov. 2022. "Novel Reconfigurable Spherical Parallel Mechanisms with a Circular Rail" Robotics 11, no. 2: 30. https://doi.org/10.3390/robotics11020030

APA Style

Laryushkin, P., Antonov, A., Fomin, A., & Glazunov, V. (2022). Novel Reconfigurable Spherical Parallel Mechanisms with a Circular Rail. Robotics, 11(2), 30. https://doi.org/10.3390/robotics11020030

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