Design Innovation Paper

A New Seven Degrees-of-Freedom Parallel Robot With a Foldable Platform

[+] Author and Article Information
Wissem Haouas

FEMTO-ST Institute,
University Bourgogne Franche-Comté,
Besançon 25000, France
e-mail: wissem.haouas@femto-st.fr

Redwan Dahmouche

FEMTO-ST Institute,
University Bourgogne Franche-Comté,
Besançon 25000, France
e-mail: redwan.dahmouche@femto-st.fr

Nadine Le Fort-Piat

FEMTO-ST Institute,
University Bourgogne Franche-Comté,
Besançon 25000, France
e-mail: nadine.piat@ens2m.fr

Guillaume J. Laurent

FEMTO-ST Institute,
University Bourgogne Franche-Comté,
Besançon 25000, France
e-mail: guillaume.laurent@ens2m.fr

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received June 29, 2017; final manuscript received March 2, 2018; published online April 18, 2018. Assoc. Editor: Leila Notash.

J. Mechanisms Robotics 10(4), 045001 (Apr 18, 2018) (8 pages) Paper No: JMR-17-1193; doi: 10.1115/1.4039693 History: Received June 29, 2017; Revised March 02, 2018

This paper presents a new parallel robot with an integrated gripper. The grasping capability of the robot is obtained by a foldable platform that can be fully controlled by actuators located on the base of the seven degrees-of-freedom (DoF) parallel structure. This mechanism combines three key specificities in robotics which are compactness, rigidity, and high blocking forces. The paper presents the new structure, its kinematic modeling, and an analysis of its workspace and grasping force capabilities. In addition, a prototype is presented and tested in manipulation and insertion operations, which validates the proposed concept.

Copyright © 2018 by ASME
Your Session has timed out. Please sign back in to continue.


Merlet, J.-P. , 2012, Parallel Robots, Vol. 74, Springer Science & Business Media, Berlin.
Gough, V. , 1956, “ Contribution to Discussion of Papers on Research in Automobile Stability and Control and Tire Performance,” Proc. Auto Div. Inst. Mech. Eng., 171, pp. 392–394.
Pierrot, F. , Reynaud, C. , and Fournier, A. , 1990, “ Delta: A Simple and Efficient Parallel Robot,” Robotica, 8(2), pp. 105–109. [CrossRef]
Li, Y. , Ma, Y. , Liu, S. , Luo, Z. , Mei, J. , Huang, T. , and Chetwynd, D. , 2014, “ Integrated Design of a 4-DOF High-Speed Pick-and-Place Parallel Robot,” CIRP Ann. Manuf. Technol., 63(1), pp. 185–188. [CrossRef]
Xie, F. , and Liu, X.-J. , 2015, “ Design and Development of a High-Speed and High-Rotation Robot With Four Identical Arms and a Single Platform,” ASME J. Mech. Rob., 7(4), p. 041015. [CrossRef]
Ozgur, E. , Dahmouche, R. , Andreff, N. , and Martinet, P. , 2013, “ High Speed Parallel Kinematic Manipulator State Estimation From Legs Observation,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, Nov. 3–7, pp. 424–429.
Brouwer, D. , De Jong, B. , and Soemers, H. , 2010, “ Design and Modeling of a Six DOFs Mems-Based Precision Manipulator,” Precis. Eng., 34(2), pp. 307–319. [CrossRef]
Shi, H. , Su, H.-J. , and Dagalakis, N. , 2014, “ A Stiffness Model for Control and Analysis of a MEMS Hexapod Nanopositioner,” Mech. Mach. Theory, 80, pp. 246–264. [CrossRef]
Yao, Q. , Dong, J. , and Ferreira, P. M. , 2008, “ A Novel Parallel-Kinematics Mechanisms for Integrated, Multi-Axis Nanopositioning—Part 1: Kinematics and Design for Fabrication,” Precis. Eng., 32(1), pp. 7–19. [CrossRef]
Shi, H. , and Su, H.-J. , 2013, “ An Analytical Model for Calculating the Workspace of a Flexure Hexapod Nanopositioner,” ASME J. Mech. Rob., 5(4), p. 041009. [CrossRef]
Müller, A. , 2008, “ Redundant Actuation of Parallel Manipulators,” Parallel Manipulators, Towards New Applications, InTech, Rijeka, Croatia. [CrossRef]
Kim, J. , Park, F. C. , Ryu, S. J. , Kim, J. , Hwang, J. C. , Park, C. , and Iurascu, C. C. , 2001, “ Design and Analysis of a Redundantly Actuated Parallel Mechanism for Rapid Machining,” IEEE Trans. Rob. Autom., 17(4), pp. 423–434. [CrossRef]
Alba, O. , Pamanes, J. , and Wenger, P. , 2007, “ Trajectory Planning of a Redundant Parallel Manipulator Changing of Working Mode,” 12th World Congress on Theory of Machines and Mechanisms, Besançon, France, June 17–21, pp. 18–21.
O'Brien, J. F. , and Wen, J. T. , 1999, “ Redundant Actuation for Improving Kinematic Manipulability,” IEEE International Conference on Robotics and Automation (ICRA), Detroit, MI, May 10–15, pp. 1520–1525.
Luces, M. , Mills, J. K. , and Benhabib, B. , 2017, “ A Review of Redundant Parallel Kinematic Mechanisms,” J. Intell. Rob. Syst., 86(2), pp. 175–198. [CrossRef]
Gauthier, M. , and Régnier, S. , 2011, Robotic Micro-Assembly, Wiley, New York.
Pierrot, F. , and Company, O. , 1999, “ H4: A New Family of 4-DOF Parallel Robots,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, Sept. 19–23, pp. 508–513.
Zhang, D. , 2009, Parallel Robotic Machine Tools, Springer Science & Business Media, Berlin.
Hoevenaars, A. G. , Lambert, P. , and Herder, J. L. , 2014, “ Kinematic Design of Two Elementary 3DOF Parallel Manipulators With Configurable Platforms,” Computational Kinematics, Springer, Berlin, pp. 315–322. [CrossRef]
Nabat, V. , de la O, R. , María, O. , Company, O. , Krut, S. , and Pierrot, F. , 2005, “ Par4: Very High Speed Parallel Robot for Pick-and-Place,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, AB, Canada, Aug. 2–6, pp. 553–558.
Yi, B.-J. , Na, H. Y. , Lee, J. H. , Hong, Y.-S. , Oh, S.-R. , Suh, I. H. , and Kim, W. K. , 2002, “ Design of a Parallel-Type Gripper Mechanism,” Int. J. Rob. Res., 21(7), pp. 661–676.
Mohamed, M. G. , and Gosselin, C. M. , 2005, “ Design and Analysis of Kinematically Redundant Parallel Manipulators With Configurable Platforms,” IEEE Trans. Rob., 21(3), pp. 277–287. [CrossRef]
Lambert, P. , and Herder, J. L. , 2014, “ Self Dual Topology of Parallel Mechanisms With Configurable Platforms,” Computational Kinematics: Proceedings of the 6th International Workshop on Computational Kinematics (CK2013), Springer, Dordrecht, The Netherlands, pp. 291–298. [CrossRef]
Lambert, P. , and Herder, J. , 2015, “ A Novel Parallel Haptic Device With 7 Degrees of Freedom,” IEEE World Haptics Conference (WHC), Chicago, IL, June 22–26, pp. 183–188.
Haouas, W. , Dahmouche, R. , Fort-Piat, L. N. , and Laurent, J. G. , 2016, “ 4-DoF Spherical Parallel Wrist With Embedded Grasping Capability for Minimally Invasive Surgery,” International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, Oct. 9–14, pp. 2363–2368.
Stoughton, R. S. , and Arai, T. , 1993, “ A Modified Stewart Platform Manipulator With Improved Dexterity,” IEEE Trans. Rob. Autom., 9(2), pp. 166–173. [CrossRef]
Pusey, J. , Fattah, A. , Agrawal, S. , and Messina, E. , 2004, “ Design and Workspace Analysis of a 6–6 Cable-Suspended Parallel Robot,” Mech. Mach. Theory, 39(7), pp. 761–778. [CrossRef]
Wen, J.-Y. , and Wilfinger, L. S. , 1999, “ Kinematic Manipulability of General Constrained Rigid Multibody Systems,” IEEE Trans. Rob. Autom., 15(3), pp. 558–567. [CrossRef]
Wu, S. , Jiao, Z. , Yan, L. , Zhang, R. , Yu, J. , and Chen, C.-Y. , 2014, “ Development of a Direct-Drive Servo Valve With High-Frequency Voice Coil Motor and Advanced Digital Controller,” IEEE/ASME Trans. Mechatronics, 19(3), pp. 932–942. [CrossRef]
Amine, S. , Masouleh, M. T. , Caro, S. , Wenger, P. , and Gosselin, C. , 2012, “ Singularity Conditions of 3T1R Parallel Manipulators With Identical Limb Structures,” ASME J. Mech. Rob., 4(1), p. 011011. [CrossRef]
il Jeong, J. , Kang, D. , Cho, Y. M. , and Kim, J. , 2004, “ Kinematic Calibration for Redundantly Actuated Parallel Mechanisms,” ASME J. Mech. Des., 126(2), pp. 307–318. [CrossRef]
Valasek, M. , Belda, K. , and Florian, M. , 2002, “ Control and Calibration of Redundantly Actuated Parallel Robots,” Third Parallel Kinematics Seminar, Chemnitz, Germany, pp. 411–427.
Abbott, D. J. , Becke, C. , Rothstein, R. I. , and Peine, W. J. , 2007, “ Design of an Endoluminal Notes Robotic System,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, Oct. 29–Nov. 2, pp. 410–416.
Pryor, A. D. , Tushar, J. R. , and DiBernardo, L. R. , 2010, “ Single-Port Cholecystectomy With the Transenterix Spider: Simple and Safe,” Surg. Endosc., 24(4), pp. 917–923. [CrossRef] [PubMed]
Kaouk, J. H. , Goel, R. K. , Haber, G.-P. , Crouzet, S. , and Stein, R. J. , 2009, “ Robotic Single-Port Transumbilical Surgery in Humans: Initial Report,” BJU Int., 103(3), pp. 366–369. [CrossRef] [PubMed]
Niccolini, M. , Petroni, G. , Menciassi, A. , and Dario, P. , 2012, “ Real-Time Control Architecture of a Novel Single-Port Laparoscopy Bimanual Robot (Sprint),” IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, May 14–18, pp. 3395–3400.
Petrovic, D. , Chatzitheodoridis, E. , Popovic, G. , Del Medico, O. , Almansa, A. , Brenner, W. , Detter, H. , Martins, R. , and Fortunato, E. , 2001, “ Design of a Mechanical Gripper for Assembly of Microparts,” XXX Convegno Nazionale AIAS, Alghero, Italy, Sept. 12–15, pp. 1369–1373.
Popa, D. O. , and Stephanou, H. E. , 2004, “ Micro and Mesoscale Robotic Assembly,” J. Manuf. Processes, 6(1), pp. 52–71. [CrossRef]


Grahic Jump Location
Fig. 2

The kinematic architecture of the robot

Grahic Jump Location
Fig. 1

Architectural scheme of the manipulator. The blocks P, R, and S represent prismatic, revolute, and spherical joints, respectively.

Grahic Jump Location
Fig. 5

Manipulability index of the manipulator at its home position as a function of ϕ1 and ϕ2

Grahic Jump Location
Fig. 6

Representation of the volume of the workspace (cm3) of the manipulator as a function of ϕ1 and ϕ2

Grahic Jump Location
Fig. 3

Geometrical description of the top platform and bottom stages

Grahic Jump Location
Fig. 4

Kinematic design parameters h1, h2, h3, and h4

Grahic Jump Location
Fig. 8

Theoretical workspace of the two fingers of the manipulator using 18 mm travel range actuators: (a) spacial presentation of the workspace and (b) top view of the workspace

Grahic Jump Location
Fig. 9

Maximal grasping couple over poses range (N·m)

Grahic Jump Location
Fig. 7

Design parameters of the fingers

Grahic Jump Location
Fig. 10

CAD model of the spherical joint made with a ruby

Grahic Jump Location
Fig. 11

Schematic representation of the experimental setup

Grahic Jump Location
Fig. 12

Manipulation and insertion of an object: (a) object initially inserted in the first hole, (b) positioning the end-effector and grasping of the object, (c) manipulating the object with the different DoFs, (d) positioning the object to the target position, (e) inserting the object, and (f) releasing the object



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In