Publication
A one-motor full-mobility 6-PUS manipulator
Conference Article
Conference
CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY)
Edition
18th
Pages
49-56
Doc link
http://dx.doi.org/10.1007/978-3-7091-0277-0_5
File
Abstract
This paper presents the feasibility study of an under-actuated parallel manipulator with 6-PUS topology, destined to handle work-tables in CNC machine tools. The proposed device exploits the fact that, in such an application, the path between the initial and final poses of the mobile platform is not assigned to reduce the number of actuators to only one.
Categories
industrial robots, manipulators, robot kinematics.
Scientific reference
P. Grosch, R. Di Gregorio and F. Thomas. A one-motor full-mobility 6-PUS manipulator, 18th CISM-IFToMM Symposium on Robot Design, Dynamics and Control, 2010, Udine, Italy, in ROMANSY 18 Robot Design, Dynamics and Control, Vol 524 of CSIM Courses and Lectures, pp. 49-56, 2010, Springer, Wien / New York.
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