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

Conference Paper (2015)
Author(s)

Salua Hamaza (TU Delft - Mechanical Engineering, University of Bologna)

Patrice Lambert (TU Delft - Mechanical Engineering)

Marco Carricato (University of Bologna)

Just Herder (TU Delft - Mechanical Engineering)

Research Group
Mechatronic Systems Design
DOI related publication
https://doi.org/10.1115/DETC2015-46841 Final published version
More Info
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Publication Year
2015
Language
English
Research Group
Mechatronic Systems Design
Volume number
5C-2015
Pages (from-to)
1 - 11
ISBN (electronic)
9780791857144
Event
ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 (2015-08-02 - 2015-08-05), s.l., Boston, United States
Downloads counter
142

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.