Design, Kinematics and Workspace Analysis of a Novel 4-DOF Kinematically Redundant Planar Parallel Grasping Manipulator

Design, Kinematics and Workspace Analysis of a Novel 4-DOF Kinematically Redundant Planar Parallel Grasping Manipulator

This article presents a model of a novel 4-DOF kinematically redundant planar parallel grasping manipulator. As distinct from the traditional 4-DOF manipulator, the proposed design includes an extensible platform, which provides kinematic redundancy. This constructive feature is used for grasping. T...

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Bibliographic Details
Main Authors: Daniil Petelin, Alexey Fomin, Pavel Laryushkin, Oxana Fomina, Giuseppe Carbone, Marco Ceccarelli
Format: Article
Language:English
Published: MDPI AG 2023-02-01
Series:Machines
Subjects:
4-DOF parallel manipulator
kinematically redundant manipulator
degree of freedom
grasping
mechanism design
inverse and forward kinematics
Online Access:https://www.mdpi.com/2075-1702/11/3/319

Internet

https://www.mdpi.com/2075-1702/11/3/319

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