A Novel Transformable Cobot

Author

Chanphat, Supaphon ; Wannasuphoprasit, Witaya

Author_Institution

Dept. of Mech. Eng., Chulalongkorn Univ., Bangkok

fYear

2006

fDate

Dec. 2006

Firstpage

1

Lastpage

6

Abstract

Collaborative robot or Cobot, is a class of robotic devices designed to work directly with human operator within the same workspace. Cobots are inheritably passive and thus safe for direct physical interacting with human operators. Cobots use CVT (continuously variable transmission) connecting between their joints to constraint direction of motion. Several cobots have been developed in recent years. All have fix configurations and some will be reviewed. In this paper, we propose a novel transformable Cobot, called T-Cobot which is able to expand or retract its configuration. Design and construction of T-Cobot prototype is described. Then, kinematics is presented with computer simulation. In addition, experiment results in free and path mode are provided

Keywords

multi-robot systems; robot kinematics; T-Cobot prototype; collaborative robot; continuously variable transmission; robot kinematics; robotic device; transformable Cobot; Collaboration; Computer simulation; Couplings; Humans; Kinematics; Mechanical power transmission; Motorcycles; Prototypes; Robots; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2006 IEEE Conference on

Conference_Location

Bangkok

Print_ISBN

1-4244-0024-4

Electronic_ISBN

1-4244-0025-2

Type

conf

DOI

10.1109/RAMECH.2006.252689

Filename

4018805