Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 6, issue 1
Articles | Volume 6, issue 1
https://doi.org/10.5194/ms-6-9-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
https://doi.org/10.5194/ms-6-9-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
Articles | Volume 6, issue 1
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

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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.
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