Research
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3-DOF 1T2R Parallel Robots
3-DOF 1T2R Parallel Robots
- No Parasitic Motion
- Foldable to save the size
- Use small rotational actuators to support heavy load (with the aid of TM screw)
- Applied to TV mounting devices (Payload: 50kg)
Counter-Balancing Robot
Counter-Balancing Robot
1. Feature
- Fully counterweight balancing
- Applied to Otologic Surgery
- Tool holder+navigation sensor+brake
2. Disadvantage
- Additional inertia added to the system (not suitable for relatively high speed application)
- Trade-off between the mass and inertia of the whole system during inertia optimization
Spring-Balancing Robot
Spring-Balancing Robot
1. Feature
- Fully Spring balancing
- Almost no additional inertia added to the system
- Tool holder+navigation sensor+brake
2. Disadvantage
- Less safety as compared with the counterweight balancing (wire break)
- Little friction due to using the wire transmission to get the ideal spring
Use Kinematic Redundancy to Avoid Parallel Singularities
Use Kinematic Redundancy to Avoid Parallel Singularities
- Use the 1-DOF kinematic redundancy to avoid the parallel singularities
- Large rotational workspace
4-DOF 3T1R Parallel Robot
4-DOF 3T1R Parallel Robot
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1-DOF Kinematic Redundancy
1-DOF Kinematic Redundancy
- Moving platform has three translational DOFs and one rotational DOF
- 1-DOF kinematic redundancy exists in the system
- Five motors required to control this robot
- Kinematic redundancy can be used to avoid parallel singularity, design grasping module, etc.
Use Kinematic Redundancy to Perform Grasping
Use Kinematic Redundancy to Perform Grasping
Scissor-Shaped Grasping Module
Scissor-Shaped Grasping Module
- Use the 1-DOF kinematic redundancy to perform grasping
- Scissor-shaped grasping module
Closed-Loop Grasping Module
Closed-Loop Grasping Module
- Use the 1-DOF kinematic redundancy to perform grasping
- Closed-loop grasping module (configurable End-Effector, Caging type)
Multi-Function Robot Gripper
Multi-Function Robot Gripper
- Combine suction mechanism + linkage-driven gripper
- Each finger is underactuated and independently controlled by two motors
- Distal phalanx of each finger can be actively controlled
- Experiment was performed with a 6-DOF industrial robot
Underactuated Robot Gripper
Underactuated Robot Gripper
- 2-fingered gripper with three actuators
- Distal phalanx of each finger can be actively controlled
- Open-close motion of the two fingers are controlled by a single motor
- Contact-based grasping
Haptic Device Developed for Vascular Intervention Robot
Haptic Device Developed for Vascular Intervention Robot
- 3-DOF positioning + 4-DOF rotation (one redundant DOF) + 1-DOF grip motion
- Wire driven is used to reduce the backlash and provide backdrivable property
- Gravity is fully balanced by using the counterweights
3-Finger Robotic Hand
3-Finger Robotic Hand
- 3 fingers with 9 actuators
- Parallel grasping + Shape-adaptive power grasping
- Grasping small/thin objects during making contact with the environment
- Active transition from the parallel grasping to the shape-adaptive power grasping