Transferability in an 8-DoF Parallel Robot with a Configurable Platform

被引：3
|
作者：
Dahmouche, Redwan [1 ]
Wen, Kefei [2 ]
Gosselin, Clement [2 ]
机构：
[1] Univ Bourgogne Franche Comte, Dept AS2M, Inst FEMTO ST, F-25000 Besancon, France
[2] Univ Laval, Lab Robot, Dept Genie Mecan, Quebec City, PQ G1V 0A6, Canada
来源：
2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2020年
基金：
加拿大自然科学与工程研究理事会;
关键词：
MANIPULATORS;
D O I：
10.1109/IROS45743.2020.9341108
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Parallel robots with configurable platforms (PRCPs) combine the benefits of parallel robots with additional functionalities such as grasping and cutting. However, some of the theoretical tools used to study classical parallel robots do not apply to parallel robots with configurable platforms. This paper uses screw theory to study the transferable wrenches from the robot's limbs to the configurable platform of an 8-DoF parallel robot. Deriving the transferable wrenches allows one to construct the screw system that is applied to each part of the configurable platform. Based on the analytical expressions of the limb and platform wrenches that have been derived and numerically validated, the mathematical tools that are used to study parallel kinematic structures, such as Grassmann line geometry, can thus be applied to the presented parallel robot with a configurable platform.
引用
收藏
页码：6544 / 6549
页数：6
相关论文
共 50 条
  • [1] Visual Servoing of 8-DOF Arm for Mobile Robot Platform
    Lee, Kwang-Hee
    Kim, Do-Eun
    Lee, Sang Hwa
    Lee, Young-Ho
    Kuc, Tae-Yong
    2008 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-4, 2008, : 1881 - +
  • [2] Design of 8-DOF Humanoid Robot Foot
    Wei, Hui
    Shuai, Mei
    Wang, Zhongyu
    ADVANCED MECHANICAL DESIGN, PTS 1-3, 2012, 479-481 : 2403 - +
  • [3] 8-DoF Biped Robot with Compliant Links
    Sarkar, Abhishek
    Kishore, N. N.
    Dutta, Ashish
    2014 13TH INTERNATIONAL CONFERENCE ON CONTROL AUTOMATION ROBOTICS & VISION (ICARCV), 2014, : 1195 - 1200
  • [4] 8-DoF biped robot with compliant-links
    Sarkar, Abhishek
    Dutta, Ashish
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2015, 63 : 57 - 67
  • [5] Kinematic Model Analysis of an 8-DOF Photographic Robot
    Xie, Xiaowei
    Miao, Xingang
    Wang, Su
    Zhang, Feng
    TRANSACTIONS ON INTELLIGENT WELDING MANUFACTURING, VOL I, NO. 2 2017, 2018, 1 (02): : 191 - 198
  • [6] THE QUADROG ROBOT, A PARALLEL ROBOT WITH A CONFIGURABLE PLATFORM FOR HAPTIC APPLICATIONS
    Hamaza, Salua
    Lambert, Patrice
    Carricato, Marco
    Herder, Just
    INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2015, VOL 5C, 2016,
  • [7] Suturing in confined spaces: Constrained motion control of a hybrid 8-DoF robot
    Kapoor, A
    Simaan, N
    Taylor, RH
    2005 12TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 2005, : 452 - 459
  • [8] Design of an anthropomorphic dual-arm robot with biologically inspired 8-DOF arms
    Lee, Dong-Hyuk
    Park, Hyeonjun
    Park, Jae-Han
    Baeg, Moon-Hong
    Bae, Ji-Hun
    INTELLIGENT SERVICE ROBOTICS, 2017, 10 (02) : 137 - 148
  • [9] Design of an anthropomorphic dual-arm robot with biologically inspired 8-DOF arms
    Dong-Hyuk Lee
    Hyeonjun Park
    Jae-Han Park
    Moon-Hong Baeg
    Ji-Hun Bae
    Intelligent Service Robotics, 2017, 10 : 137 - 148
  • [10] Optimal Trajectory Generation and Design of an 8-DoF Compliant Biped Robot for Walk on Inclined Ground
    Sarkar, Abhishek
    Dutta, Ashish
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2019, 94 (3-4) : 583 - 602
12345