A fixed-actuator configuration for 3-LEG 6-DOF robots

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

For many fully parallel robots, the number of legs is generally equal to the number of degrees of freedom, with one actuated joint per leg. However, another subset of robots exists in which there are fewer legs and more actuated joints per leg. This paper presents a method of mounting rotary actuators on the fixed platform such that no actuator mass is added to the moving links. Examples of 6-DOF parallel robot variants are given based on this technique, with inverse kinematics, and the scope of extensibility to other topologies is briefly described.

Original languageEnglish (US)
Title of host publication41st Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791858172
DOIs
StatePublished - Jan 1 2017
EventASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017 - Cleveland, United States
Duration: Aug 6 2017Aug 9 2017

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5A-2017

Other

OtherASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017
CountryUnited States
CityCleveland
Period8/6/178/9/17

Fingerprint

Parallel Robot
Actuator
Actuators
Robot
Robots
Configuration
Inverse Kinematics
Fixed platforms
Inverse kinematics
Degree of freedom
Topology
Mountings
Subset

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Cite this

Nelson, C. A. (2017). A fixed-actuator configuration for 3-LEG 6-DOF robots. In 41st Mechanisms and Robotics Conference (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5A-2017). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2017-67768

A fixed-actuator configuration for 3-LEG 6-DOF robots. / Nelson, Carl A.

41st Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), 2017. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5A-2017).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nelson, CA 2017, A fixed-actuator configuration for 3-LEG 6-DOF robots. in 41st Mechanisms and Robotics Conference. Proceedings of the ASME Design Engineering Technical Conference, vol. 5A-2017, American Society of Mechanical Engineers (ASME), ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017, Cleveland, United States, 8/6/17. https://doi.org/10.1115/DETC2017-67768
Nelson CA. A fixed-actuator configuration for 3-LEG 6-DOF robots. In 41st Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME). 2017. (Proceedings of the ASME Design Engineering Technical Conference). https://doi.org/10.1115/DETC2017-67768
Nelson, Carl A. / A fixed-actuator configuration for 3-LEG 6-DOF robots. 41st Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), 2017. (Proceedings of the ASME Design Engineering Technical Conference).
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