Transferability in an 8-DoF Parallel Robot with a Configurable Platform

被引：3

作者：

Dahmouche, Redwan ^{[1
]}

Wen, Kefei ^{[2
]}

Gosselin, Clement ^{[2
]}

机构：

[1] Univ Bourgogne Franche Comte, Dept AS2M, Inst FEMTO ST, F-25000 Besancon, France

[2] Univ Laval, Lab Robot, Dept Genie Mecan, Quebec City, PQ G1V 0A6, Canada

来源：

2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2020年

基金：

加拿大自然科学与工程研究理事会;

关键词：

MANIPULATORS;

D O I：

10.1109/IROS45743.2020.9341108

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Parallel robots with configurable platforms (PRCPs) combine the benefits of parallel robots with additional functionalities such as grasping and cutting. However, some of the theoretical tools used to study classical parallel robots do not apply to parallel robots with configurable platforms. This paper uses screw theory to study the transferable wrenches from the robot's limbs to the configurable platform of an 8-DoF parallel robot. Deriving the transferable wrenches allows one to construct the screw system that is applied to each part of the configurable platform. Based on the analytical expressions of the limb and platform wrenches that have been derived and numerically validated, the mathematical tools that are used to study parallel kinematic structures, such as Grassmann line geometry, can thus be applied to the presented parallel robot with a configurable platform.

引用

页码：6544 / 6549

页数：6

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