The paper presents a 3-dof hybrid parallel mechanism architecture, ArmillEye, providing one translational and two rotational freedoms. A fully parametric, analytical model of the forward position problem is proposed and the possible assembly modes are discussed. ArmillEye has been selected as an agile camera support mechanism to be used onboard an underwater robot developed for the disposal of off-shore installations. Compared to other parallel mechanisms, ArmillEye has exactly the mobility required for the task foreseen and its geometry can be chosen in order to have a tilt-pan-zoom mobility with the tilt independent from the pan and the zoom, which results advantageous for underwater vision. The links of the legs can be easily shaped to achieve a low hydrodynamic resistance so that the mechanism can be very agile underwater.
Forward kinematics equations of a 3-dof hybrid pm for underwater camera active support
ZOPPI, MATTEO;MOLFINO, REZIA
2005-01-01
Abstract
The paper presents a 3-dof hybrid parallel mechanism architecture, ArmillEye, providing one translational and two rotational freedoms. A fully parametric, analytical model of the forward position problem is proposed and the possible assembly modes are discussed. ArmillEye has been selected as an agile camera support mechanism to be used onboard an underwater robot developed for the disposal of off-shore installations. Compared to other parallel mechanisms, ArmillEye has exactly the mobility required for the task foreseen and its geometry can be chosen in order to have a tilt-pan-zoom mobility with the tilt independent from the pan and the zoom, which results advantageous for underwater vision. The links of the legs can be easily shaped to achieve a low hydrodynamic resistance so that the mechanism can be very agile underwater.
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