The quadrog robot, a parallel robot with a configurable platform for haptic applications

Conference paper (2015)

Authors

S. Hamaza Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering , University of Bologna
P. Lambert Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering
Marco Carricato University of Bologna
J.L. Herder Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering
Research Group
Mechatronic Systems Design (Mechanical, Maritime and Materials Engineering) (TU Delft)
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Published Date

2015

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Precision and Microsystems Engineering

Research Group

Mechatronic Systems Design

Abstract

This paper explores the fundamentals of parallel robots with configurable platforms (PRCP), as well as the design and the kinematic analysis of those. The concept behind PRCP is that the rigid (non-configurable) end-effector is replaced by a closedloop chain, the configurable platform. The use of a closed-loop chain allows the robot to interact with the environment from multiple contact points on the platform, which reflects the presence of multiple end-effectors. This results in a robot that successfully combines motion and grasping capabilities into a structure that provides an inherent high stiffness. This paper aims to introduce the QuadroG robot, a 4 degrees of freedom PRCP which finely merges planar motion together with grasping capabilities.