Presentado al 11th International Symposium on Advances in Robot Kinematics (ARK/2008) celebrado en Berlin, Germany. ; This paper addresses the problem of devising a parallel robot that can achieve a general position and orientation for its moving platform using three motors only. At first glance, this might seem impossible but, by using nonholonomic joints, three motors can manoeuver to approximate any six-degree-of-freedom motion for the platform. We analyze the case of a 3-UPU parallel robot in which each universal joint attached to the base is substituted by a spherical joint whose motion is constrained by a disk that can freely roll in contact with the sphere without slipping. The proposed robot involves fewer links and actuators than standard six-degree-of-freedom robots offering a large workspace free from leg interferences. ; This work has been partially supported by the Spanish Ministry of Education and Science through contract DPI2007-60858, and by the Research Network on Advanced Production Techniques of the Autonomous Government of Catalonia (Xartap). ; Peer Reviewed
A nonholonomic 3-DOF parallel robot
2008-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
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