This work presents a new reconfigurable parallel-serial hybrid manipulator that can reach 7 degrees of freedom as a whole. The architecture of the parallel part is modular and it can be configured to obtain for the mobile base 3 or 4 degrees of freedom, or 3 degrees of freedom with redundant actuation. The paper presents the new parallel kinematic structure, analyzing the singularities, the workspace and the benefits of the redundant configuration. Finally, the first experimental results are presented.
Cheope: A new reconfigurable redundant manipulator
Pedrocchi NCo-primo
Membro del Collaboration Group
;
2010
Abstract
This work presents a new reconfigurable parallel-serial hybrid manipulator that can reach 7 degrees of freedom as a whole. The architecture of the parallel part is modular and it can be configured to obtain for the mobile base 3 or 4 degrees of freedom, or 3 degrees of freedom with redundant actuation. The paper presents the new parallel kinematic structure, analyzing the singularities, the workspace and the benefits of the redundant configuration. Finally, the first experimental results are presented.File in questo prodotto:
| File | Dimensione | Formato | |
|---|---|---|---|
|
prod_179665-doc_16022.pdf
solo utenti autorizzati
Descrizione: Articolo Pubblicato
Tipologia:
Versione Editoriale (PDF)
Licenza:
NON PUBBLICO - Accesso privato/ristretto
Dimensione
1.69 MB
Formato
Adobe PDF
|
1.69 MB | Adobe PDF | Visualizza/Apri Richiedi una copia |
|
PKM-MMT2009.pdf
Open Access dal 02/05/2012
Tipologia:
Documento in Post-print
Licenza:
Creative commons
Dimensione
1.7 MB
Formato
Adobe PDF
|
1.7 MB | Adobe PDF | Visualizza/Apri |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
