2019
Kinematically Redundant (6+3)-dof Hybrid Parallel Robot with Large orientational Workspace and Remotely Operated Gripper
ICRA 2019poster
A novel 3-[R(RR-RRR)SR] kinematically redundant 6+3-degree-of-freedom (dof)spatial hybrid parallel robot with revolute actuators is proposed. The kinematic model is developed based on the constraint conditions of the robot. It is shown that the type II (parallel) singularities can be completely avoi…