4 accepted papers
This paper introduces a new redundantly actuated parallel robot capable of sensorless physical human-robot interaction. Three 3-DoF legs are attached to an end-effector platform through spherical joints. This architecture alleviates most parallel singularities, thus enabling a very large workspace. …
A novel, compact, backdrivable 6-degree-of-freedom (DOF) hybrid parallel robot with a large axisymmetric workspace is proposed, referred to as CoPaRo, short for Compact Parallel Robot. The architecture achieves a high workspace-to-footprint ratio comparable to that of serial robots. The proposed rob…
In the past decade, manipulator arms with non- traditional architectures — once found mainly in space and painting applications — have become popular as collaborative robots. Examples include ABB’s YuMi and GoFa, Kinova’s Link 6, and Fanuc’s CRX. These cobots lack closed-form inverse kinematics solu…
This paper introduces a novel four-degree-of-freedom (4-DOF) parallel mechanism having 3 translational DOFs and 1 rotational DOF. The mechanism comprises 2 sets of parallelogram linkages, which constrain two of the rotational DOFs of the mechanism. An interesting feature of the mechanism is that it…