TY - GEN
T1 - A fixed-actuator configuration for 3-LEG 6-DOF robots
AU - Nelson, Carl A.
N1 - Publisher Copyright:
Copyright © 2017 ASME.
PY - 2017
Y1 - 2017
N2 - For many fully parallel robots, the number of legs is generally equal to the number of degrees of freedom, with one actuated joint per leg. However, another subset of robots exists in which there are fewer legs and more actuated joints per leg. This paper presents a method of mounting rotary actuators on the fixed platform such that no actuator mass is added to the moving links. Examples of 6-DOF parallel robot variants are given based on this technique, with inverse kinematics, and the scope of extensibility to other topologies is briefly described.
AB - For many fully parallel robots, the number of legs is generally equal to the number of degrees of freedom, with one actuated joint per leg. However, another subset of robots exists in which there are fewer legs and more actuated joints per leg. This paper presents a method of mounting rotary actuators on the fixed platform such that no actuator mass is added to the moving links. Examples of 6-DOF parallel robot variants are given based on this technique, with inverse kinematics, and the scope of extensibility to other topologies is briefly described.
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U2 - 10.1115/DETC2017-67768
DO - 10.1115/DETC2017-67768
M3 - Conference contribution
AN - SCOPUS:85034824419
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 41st Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017
Y2 - 6 August 2017 through 9 August 2017
ER -