A novel three-legged 6-DOF parallel robot with simple kinematics
2020 ◽
Vol 44
(4)
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pp. 558-565
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This paper presents a novel three-legged six degrees of freedom (6-DOF) parallel robot with simple kinematics. The main idea behind this novel architecture is that each of the three identical legs is controlled by two prismatic actuators with parallel directions. As a result, it is possible to control simultaneously or separately the position and the orientation of a leg. The reduced number of legs leads to a simple mechanical design with reduced risk for mechanical interferences.
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2020 ◽
Vol 34
(3)
◽
pp. 1325-1338
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