A three degree-of-freedom in-parallel actuated manipulator

Vijay Kumar, Thomas G. Sugar, George H. Pfreundschuh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

The mechanics, design, and control of a three degree-of-freedom in-parallel, pneumatically actuated manipulator are presented. The manipulator consists of two platforms connected by three serial chains. The kinematic design is such that the three relative degrees of freedom between the two plates allow the manipulator to accomodate uncertainties and sustain impacts while contacting and interacting with unknown environments. In particular, the manipulator is naturally compliant in translation along the approach direction as well as in rotations about axes perpendicular to the approach direction, while it is stiff in other directions. In this paper, an overview of the manipulator kinematics, a description of the manipulator system and the associated hardware, and experimental results on the dynamic behavior of a protoytpe are presented.

Original languageEnglish (US)
Title of host publicationRoManSy 9 - Proccedings of the 9th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators
EditorsAdam Morecki, Giovanni Bianchi, Krzysztof Jaworek
PublisherSpringer Verlag
Pages217-226
Number of pages10
ISBN (Print)3540198342
StatePublished - Jan 1 1993
Externally publishedYes
Event9th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, RoManSy 1992 - Udine, Italy
Duration: Sep 1 1992Sep 4 1992

Publication series

NameLecture Notes in Control and Information Sciences
Volume187
ISSN (Print)0170-8643

Other

Other9th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, RoManSy 1992
CountryItaly
CityUdine
Period9/1/929/4/92

ASJC Scopus subject areas

  • Library and Information Sciences

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  • Cite this

    Kumar, V., Sugar, T. G., & Pfreundschuh, G. H. (1993). A three degree-of-freedom in-parallel actuated manipulator. In A. Morecki, G. Bianchi, & K. Jaworek (Eds.), RoManSy 9 - Proccedings of the 9th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators (pp. 217-226). (Lecture Notes in Control and Information Sciences; Vol. 187). Springer Verlag.