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The Design and Development of 3DP Cobotic Manipulator

[+] Author Affiliations
Witaya Wannasuphoprasit, Sirisak Sirikasemsuk

Chulalongkorn University, Bangkok, Thailand

Paper No. IMECE2002-33839, pp. 883-888; 6 pages
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME


This paper describes development of a 3-Dimensional Workspace Passive Cobotic Manipulator. The cobot has 3 dimensional workspace (x,y,z). Inspired by previous works of Scooter1 and Extreme Joystick2 cobots, the 3DP Cobotic Manipulator consists of a spherical ball and three steering Cobotic joints and mechanical links. The sphere-rotating axis is constraint to rotate about its own center. The ball has 3 C-space, roll, pitch, and yaw (φ, α, β̃) There is a two-link manipulator attached on top of the ball. The function of this links is to transform a spherical C-space, (φ, α, β) to the end-effector’s C-space (x-y-z).

Copyright © 2002 by ASME
Topics: Design , Manipulators



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