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Article Dans Une Revue Journal of Mechanisms and Robotics Année : 2018

A New Seven Degrees-of-Freedom Parallel Robot With a Foldable Platform

Résumé

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.
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Dates et versions

hal-02399249 , version 1 (09-12-2019)

Identifiants

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Wissem Haouas, Redwan Dahmouche, Nadine Piat, Guillaume Laurent. A New Seven Degrees-of-Freedom Parallel Robot With a Foldable Platform. Journal of Mechanisms and Robotics, 2018, 10 (4), pp.1 - 15. ⟨10.1115/1.4039693⟩. ⟨hal-02399249⟩
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