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 closedloop 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.
| Original language | English |
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| Title of host publication | ASME Proceedings - 39th Mechanisms and Robotics Conference |
| Place of Publication | New York, NY, USA |
| Publisher | ASME |
| Pages | 1 - 11 |
| Volume | 5C-2015 |
| ISBN (Electronic) | 9780791857144 |
| DOIs | |
| Publication status | Published - 2015 |
| Event | ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - s.l., Boston, United States Duration: 2 Aug 2015 → 5 Aug 2015 |
Conference
| Conference | ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 |
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| Country/Territory | United States |
| City | Boston |
| Period | 2/08/15 → 5/08/15 |