By Topic

Analysis and design of a six-DOF parallel manipulator, modeling, singular configurations, and workspace

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)

In this paper, a new architecture of a parallel robot with six degrees of freedom is presented. This device is well adapted to perform force feedback control, and under some conditions, can be fitted with a center of compliance. This robot has been designed in order to obtain a symmetric and compact structure. The particular properties of its geometric and kinematic models with respect to that of a classical parallel robot are addressed. Due to the fact that each actuator keeps a constant orientation with respect to the static part, we show that the direct model has a single analytical solution. This result leads us to characterize the robot singularities and the reachable workspace. To demonstrate the capability of the proposed structure, an application of the C5 parallel robot acting as a force controlled active wrist in an assembly task is described. Furthermore, the hardware and software control system is presented

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:14 ,  Issue: 1 )