A Programmable Six-axis Compliant Device

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  • If you are interested in the proposal, please contact with the supervisors.


The goal of this project is the design and the implementation of a device that could be used as a robot wrist with programmable compliant behavior.

The device will be based on a miniature Gough-Stewart platform with 6-RSPS architecture. An expansion-compression force sensor will be installed in each of the six extensible legs. The angles in the actuators will be computed as a function of the measured forces and the programmed behavior.