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The QuadroG Robot, a Parallel Robot With a Configurable Platform for Haptic Applications

[+] Author Affiliations
Salua Hamaza

University of Bologna, Bologna, ItalyTU Delft, Delft, The Netherlands

Patrice Lambert, Just Herder

TU Delft, Delft, The Netherlands

Marco Carricato

University of Bologna, Bologna, Italy

Paper No. DETC2015-46841, pp. V05CT08A008; 11 pages
doi:10.1115/DETC2015-46841
From:
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5C: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5714-4
  • Copyright © 2015 by ASME

abstract

This paper explores the fundamentals of parallel robots with configurable platforms (PRCP), as well as the design and the kinematic analysis of those. The concept behind PRCP is that the rigid (non-configurable) end-effector is replaced by a closed-loop chain, the configurable platform. The use of a closed-loop chain allows the robot to interact with the environment from multiple contact points on the platform, which reflects the presence of multiple end-effectors. This results in a robot that successfully combines motion and grasping capabilities into a structure that provides an inherent high stiffness. This paper aims to introduce the QuadroG robot, a 4 degrees of freedom PRCP which finely merges planar motion together with grasping capabilities.

Copyright © 2015 by ASME
Topics: Robots , Haptics

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