TY - GEN
T1 - Prototyping and validation of a fixed-actuator 3-leg 6-DOF robot
AU - Jensen, Nathan A.
AU - Nelson, Carl A.
N1 - Publisher Copyright:
Copyright © 2018 ASME
PY - 2018
Y1 - 2018
N2 - While 6-leg, 6 DOF parallel robots offer advantages over serial mechanisms in many applications, they suffer from mobility limitation pertaining to both the maximum extension of links and link interference. The latter of these can be mitigated by a reduction of the number of links in the mechanism. The end-effector’s degrees of freedom are maintained by adding controllable degrees of freedom to the remaining legs. This paper presents a prototype of a previously proposed 3-leg, 6-DOF parallel robot. A measure of its workspace is also shown and compared to that of a similarly sized 6-leg parallel mechanism. Analysis of partial derivatives of Cartesian points with respect to joint angles is also explored to give a metric of expected performance in different regions of workspace.
AB - While 6-leg, 6 DOF parallel robots offer advantages over serial mechanisms in many applications, they suffer from mobility limitation pertaining to both the maximum extension of links and link interference. The latter of these can be mitigated by a reduction of the number of links in the mechanism. The end-effector’s degrees of freedom are maintained by adding controllable degrees of freedom to the remaining legs. This paper presents a prototype of a previously proposed 3-leg, 6-DOF parallel robot. A measure of its workspace is also shown and compared to that of a similarly sized 6-leg parallel mechanism. Analysis of partial derivatives of Cartesian points with respect to joint angles is also explored to give a metric of expected performance in different regions of workspace.
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U2 - 10.1115/DETC2018-85261
DO - 10.1115/DETC2018-85261
M3 - Conference contribution
AN - SCOPUS:85057076873
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 42nd Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018
Y2 - 26 August 2018 through 29 August 2018
ER -