Kinematic Analysis and Design of a Novel (6+3)-DoF Parallel Robot with Fixed Actuators
- Resource Type
- Conference
- Authors
- Yigit, Arda; Breton, David; Zhou, Zhou; Laliberte, Thierry; Gosselin, Clement
- Source
- 2023 IEEE International Conference on Robotics and Automation (ICRA) Robotics and Automation (ICRA), 2023 IEEE International Conference on. :9693-9699 May, 2023
- Subject
- Robotics and Control Systems
Legged locomotion
Parallel robots
Solid modeling
Actuators
Automation
3-DOF
Human-robot interaction
- Language
A novel kinematically redundant ($6+3$) -DoF parallel robot is presented in this paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable platform through spherical joints. With the selected leg mechanism, the motors are mounted at the base, reducing the reflected inertia. The robot is intended to be actuated with direct-drive motors in order to perform intuitive physical human-robot interaction. The design of the leg mechanism maximizes the workspace in which the end-effector of the leg can have a 2g acceleration in all directions. All singularities of the leg mechanism are identified under a simplifying assumption. A CAD model of the (6+3)-DoF robot is presented in order to illustrate the preliminary design of the robot.