Title :
Analysis and design of a six-DOF parallel manipulator, modeling, singular configurations, and workspace
Author :
Dafaoui, El-Mouloudi ; Amirat, Yacine ; Pontnau, Jean ; François, Christian
Author_Institution :
IUT, Creteil, France
fDate :
2/1/1998 12:00:00 AM
Abstract :
In this paper, a new architecture of a parallel robot with six degrees of freedom is presented. This device is well adapted to perform force feedback control, and under some conditions, can be fitted with a center of compliance. This robot has been designed in order to obtain a symmetric and compact structure. The particular properties of its geometric and kinematic models with respect to that of a classical parallel robot are addressed. Due to the fact that each actuator keeps a constant orientation with respect to the static part, we show that the direct model has a single analytical solution. This result leads us to characterize the robot singularities and the reachable workspace. To demonstrate the capability of the proposed structure, an application of the C5 parallel robot acting as a force controlled active wrist in an assembly task is described. Furthermore, the hardware and software control system is presented
Keywords :
assembling; computational geometry; control system synthesis; feedback; force control; industrial manipulators; manipulator kinematics; modelling; 6-DOF parallel manipulator; assembly; feedback; force control; geometric models; kinematic models; singular configurations; Actuators; Application software; Force control; Force feedback; Hardware; Kinematics; Manipulators; Parallel robots; Robotic assembly; Wrist;
Journal_Title :
Robotics and Automation, IEEE Transactions on