Journal cover Journal topic
Mechanical Sciences An open-access journal for theoretical and applied mechanics
Journal topic

Journal metrics

Journal metrics

  • IF value: 1.052 IF 1.052
  • IF 5-year value: 1.567 IF 5-year
    1.567
  • CiteScore value: 1.92 CiteScore
    1.92
  • SNIP value: 1.214 SNIP 1.214
  • IPP value: 1.47 IPP 1.47
  • SJR value: 0.367 SJR 0.367
  • Scimago H <br class='hide-on-tablet hide-on-mobile'>index value: 18 Scimago H
    index 18
  • h5-index value: 16 h5-index 16
Supported by
Logo Library of Delft University of Technology Logo NWO
Affiliated to
Logo iftomm
Volume 6, issue 1
Mech. Sci., 6, 9-14, 2015
https://doi.org/10.5194/ms-6-9-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
Mech. Sci., 6, 9-14, 2015
https://doi.org/10.5194/ms-6-9-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.

Research article 26 Feb 2015

Research article | 26 Feb 2015

On the positioning error of a 2-DOF spherical parallel wrist with flexible links and joints – an FEM approach

G. Palmieri G. Palmieri
  • Università degli Studi eCampus, Via Isimbardi 10, 22060 Novedrate (CO), Italy

Abstract. This paper deals with an elasto-static analysis of a 2-DOF (degrees of freedom) spherical parallel wrist where the links and the joints are considered flexible. Theoretically, the mobile platform of the wrist rotates around a fixed point which is the intersection of all the joint axes. However, if the flexibility of the limbs is taken into account, while the base platform (BP) and the mobile platform (MP) are assumed rigid, two centers can be identified: one for the BP and the other for the MP. In general such points are not coincident; as a result, the positioning of the MP is affected by inaccuracies, which can be evaluated in terms of displacement and orientation errors. A finite-element method (FEM) approach is used to analyze the problem in a series of configurations of the wrist; the results are elaborated in order to obtain continuous maps of the errors over the workspace of the machine.

Publications Copernicus
Download
Short summary
This paper deals with an elasto-static analysis of a 2-DOF spherical parallel wrist where the links and the joints are considered flexible. An FEM approach is used to analyze the problem in a series of configurations of the wrist. The results are elaborated in order to obtain continuous maps of the positioning and orientation errors over the workspace of the machine.
This paper deals with an elasto-static analysis of a 2-DOF spherical parallel wrist where the...
Citation
Share