Kinematics, Design and Experimental Validation of a Novel Parallel Robot for Two-Fingered Dexterous Manipulation
Résumé
Two-fingered manipulation robotic systemsare widely used in many applications and notably at small scales. The commonly employed solution is based on the attachment of a gripper on a robot.This paper introduces a new eight degrees of freedom(DoF) mechanism intended for two-fingered dexterous manipulation. The eight DoFs are obtained via a parallel architecture moved by eight actuators that are attached to the base of the robot. The novelty lies in the use of a 2-DoF configurable platform that insures two relative rotations of the gripper jaws (openingand twisting) in addition to the 6-DoF Cartesian movements. The paper presents the kinematics and the design of a proof-of-concept able to grasp, roll,translate and rotate objects in a single compact design. A prototype is operated to manipulate and insert a 2-mm screw.
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