A New Seven Degrees-of-Freedom Parallel Robot With a Foldable Platform

被引：17

作者：

Haouas, Wissem ^{[1
]}

Dahmouche, Redwan ^{[1
]}

Le Fort-Piat, Nadine ^{[1
]}

Laurent, Guillaume J. ^{[1
]}

机构：

[1] Univ Bourgogne Franche Comte, FEMTO ST Inst, F-25000 Besancon, France

来源：

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2018年 / 10卷 / 04期

关键词：

parallel robots; configurable platform; grasping; redundantly actuated robot; DESIGN;

D O I：

10.1115/1.4039693

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a new parallel robot with an integrated gripper. The grasping capability of the robot is obtained by a foldable platform that can be fully controlled by actuators located on the base of the seven degrees-of-freedom (DoF) parallel structure. This mechanism combines three key specificities in robotics which are compactness, rigidity, and high blocking forces. The paper presents the new structure, its kinematic modeling, and an analysis of its workspace and grasping force capabilities. In addition, a prototype is presented and tested in manipulation and insertion operations, which validates the proposed concept.

引用

页数：8

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