Affiliation:
1. FEMTO-ST Institute, University Bourgogne Franche-Comté, Besançon 25000, France e-mail:
Abstract
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.
Funder
Agence Nationale de la Recherche
Reference38 articles.
1. Contribution to Discussion of Papers on Research in Automobile Stability and Control and Tire Performance;Proc. Auto Div. Inst. Mech. Eng.,1956
2. Delta: A Simple and Efficient Parallel Robot;Robotica,1990
3. Integrated Design of a 4-DOF High-Speed Pick-and-Place Parallel Robot;CIRP Ann. Manuf. Technol.,2014
4. Design and Development of a High-Speed and High-Rotation Robot With Four Identical Arms and a Single Platform;ASME J. Mech. Rob.,2015
Cited by
16 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献