Yu, S.; Zhang, J., and Li, W., 2020. A novel end effector of environmental exploring robot with fully spherical workspace. In: Hu, C. and Cai, M. (eds.), Geo-informatics and Oceanography. Journal of Coastal Research, Special Issue No. 105, pp. 159–164. Coconut Creek (Florida), ISSN 0749-0208.

A large workspace is an important parameter to improve the robot's mobility and flexibility. Based on decoupled 2-degree of freedom spherical parallel mechanism, two novel end effectors of the environmental exploring robot with a fully spherical workspace was presented. Through workspace analysis, the conditions of the end effectors to achieve a fully spherical workspace were determined. Through kinematic analysis, the kinematic equations of the two end effectors were established. After size optimization and performance comparison, the input and output performance of the RR&P5R end effector is better. Then the statics analysis and finite element analysis of the RR&P5R end effector were carried out. The results show that the material selection and structural design are reasonable. This research provides a technical support for complex unknown environment exploration.