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This work presents anewreconfigurable parallel-serial hybridmanipulator 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 hybrid redundant reconfigurable manipulator

GIBERTI, HERMES
2010-01-01

Abstract

This work presents anewreconfigurable parallel-serial hybridmanipulator 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.
2010
MECHANISM AND MACHINE THEORY
WOS:000273916500006
2-s2.0-74449091862
Esperti anonimi
Inglese
Internazionale
45
4
611
626
16
Parallel manipulator; Redundant manipulator; Reconfigurable manipulator; Singularity; Workspace
http://www.sciencedirect.com/science/article/pii/S0094114X09002171
5
info:eu-repo/semantics/article
262
G., Legnani; D., Tosi; N., Pedrocchi; P., Righettini; Giberti, Hermes
1 Contributo su Rivista::1.1 Articolo in rivista
none
1.1 Articolo in rivista
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11571/1122073
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