A novel three-legged 6-DOF parallel robot with simple kinematics-Reference-Cited by-同舟云学术

A novel three-legged 6-DOF parallel robot with simple kinematics

Published:2020-12-01 Issue:4 Volume:44 Page:558-565
ISSN:0315-8977
Container-title:Transactions of the Canadian Society for Mechanical Engineering
language:en
Short-container-title:Trans. Can. Soc. Mech. Eng.

Author:

Cherchelanov Edelvays¹²,Bonev Ilian A.¹²

Affiliation:

1. École de technologie supérieure (ÉTS), 1100 rue Notre-Dame Ouest, Montreal, QC H3C 1K3, Canada

2. École de technologie supérieure (ÉTS), 1100 rue Notre-Dame Ouest, Montreal, QC H3C 1K3, Canada.

Abstract

This paper presents a novel three-legged six degrees of freedom (6-DOF) parallel robot with simple kinematics. The main idea behind this novel architecture is that each of the three identical legs is controlled by two prismatic actuators with parallel directions. As a result, it is possible to control simultaneously or separately the position and the orientation of a leg. The reduced number of legs leads to a simple mechanical design with reduced risk for mechanical interferences.

Publisher

Canadian Science Publishing

Subject

Mechanical Engineering

Link

https://cdnsciencepub.com/doi/pdf/10.1139/tcsme-2019-0189

Reference8 articles.

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