Prototyping and validation of a fixed-actuator 3-leg 6-DOF robot

Nathan A. Jensen, Carl A. Nelson

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

Abstract

While 6-leg, 6 DOF parallel robots offer advantages over serial mechanisms in many applications, they suffer from mobility limitation pertaining to both the maximum extension of links and link interference. The latter of these can be mitigated by a reduction of the number of links in the mechanism. The end-effector’s degrees of freedom are maintained by adding controllable degrees of freedom to the remaining legs. This paper presents a prototype of a previously proposed 3-leg, 6-DOF parallel robot. A measure of its workspace is also shown and compared to that of a similarly sized 6-leg parallel mechanism. Analysis of partial derivatives of Cartesian points with respect to joint angles is also explored to give a metric of expected performance in different regions of workspace.

Original languageEnglish (US)
Title of host publication42nd Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791851814
DOIs
Publication statusPublished - Jan 1 2018
EventASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018 - Quebec City, Canada
Duration: Aug 26 2018Aug 29 2018

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5B-2018

Other

OtherASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018
CountryCanada
CityQuebec City
Period8/26/188/29/18

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ASJC Scopus subject areas

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

Cite this

Jensen, N. A., & Nelson, C. A. (2018). Prototyping and validation of a fixed-actuator 3-leg 6-DOF robot. In 42nd Mechanisms and Robotics Conference (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5B-2018). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2018-85261