Kinematic Analysis and Design of a Novel (6+3)-DoF Parallel Robot with Fixed Actuators

Autor:	Yigit, Arda, Breton, David, Zhou, Zhou, Laliberte, Thierry, Gosselin, Clement
Rok vydání:	2023
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	A novel kinematically redundant (6+3)-DoF parallel robot is presented in this paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable platform through spherical joints. With the selected leg mechanism, the motors are mounted at the base, reducing the reflected inertia. The robot is intended to be actuated with direct-drive motors in order to perform intuitive physical human-robot interaction. The design of the leg mechanism maximizes the workspace in which the end-effector of the leg can have a 2g acceleration in all directions. All singularities of the leg mechanism are identified under a simplifying assumption. A CAD model of the (6+3)-DoF robot is presented in order to illustrate the preliminary design of the robot. Comment: Accepted to International Conference on Robotics and Automation (ICRA) 2023, IEEE copyright, 7 pages, 7 figures
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2304.12499 Zobrazit plný text záznamu View this record from Arxiv