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T-Cobot: Transformable Collaborative Robot

[+] Author Affiliations
Witaya Wannasuphoprasit, Supaphon Chanphat

Chulalongkorn University

Paper No. IMECE2005-82027, pp. 1689-1696; 8 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


Recently, the emerging research between human and robotic device has been adapted to many applications. Collaborative Robot or Cobot is one of promising candidates because it is inherently passive and intrinsically safe. Cobot’s joints are coupled together by CVTs (continuous variable transmissions). The cobot’s endpoint direction can be controlled by adjusting transmission ratios of these CVTs. Former cobots developed in recent years have constant joint-to-joint distances. Some will be reviewed. In this paper, we propose a novel transformable cobot called T-Cobot which has ability to expand the joint distances. We describe the design and construction of the T-Cobot Prototype. In addition, the kinematics of the T Cobot is proposed.

Copyright © 2005 by ASME
Topics: Robots



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