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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.

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Figures

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Fig. 2

The kinematic architecture of the robot

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Fig. 1

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

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Fig. 7

Design parameters of the fingers

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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

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Fig. 3

Geometrical description of the top platform and bottom stages

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Fig. 4

Kinematic design parameters h1, h2, h3, and h4

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Fig. 5

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

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Fig. 6

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

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Fig. 9

Maximal grasping couple over poses range (N·m)

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Fig. 10

CAD model of the spherical joint made with a ruby

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Fig. 11

Schematic representation of the experimental setup

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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

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