Design of a new grasper having XYZ translational motions

Author

Dong, Yi ; Byung-Ju, Yi ; Wheekuk, Kim

Author_Institution

Sch. of Electr. Eng. & Comput. Sci., Han Yang Univ., Seoul, South Korea

Volume

1

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

690

Abstract

A new 4 DOF parallel mechanism is proposed in this work. This device consists of four parallel kinematics chains and a foldable parallelogrammic platform that can be used to grasp any large or irregular-shaped object. Thus, out of 4-DOF motion space of the device, the one-DOF is used for gripping an irregular object and the other three-DOF is used for adjusting motion of the grasped object. Particularly, the three-DOF motion is restricted in the decoupled three-dimensional translational motion space in spite of revolute joint-based parallel structure. Thus, it is not only very compact, but also has distinctive feature of both grasping and micro-positioning that are one of important aspects required in real applications. In this work, we carry out the position and kinematic analysis for the mechanism, and develop the mechanism for experimental verification of its performance.

Keywords

dexterous manipulators; grippers; manipulator kinematics; micropositioning; motion control; 4 DOF parallel mechanism; decouple 3D translational motion space; foldable parallelogrammic platform; irregular object gripping; joint-based parallel structure; kinematic analysis; kinematic chains; micropositioning; motion adjusting; position analysis; xyz translational motion; Actuators; Computer science; Grasping; Instruments; Kinematics; Manipulators; Motion control; Orbital robotics; Robots; Shape control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241674

Filename

1241674