Implementation and Evaluation of a Three-Legged Six-Degrees-of-Freedom Parallel Mechanism as an Impedance-Type Haptic Device
Sign Up to like & getrecommendations! Published in 2017 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2017.2682930
Abstract: The Monash Epicyclic Parallel Manipulator (MEPaM) is a three-legged six-degrees-of-freedom (dof) parallel mechanism with base mounted actuators. Due to the architecture of MEPaM, a closed form solution to the direct geometric problem was obtained. The… read more here.
Keywords: haptic device; legged six; parallel mechanism; six degrees ... See more keywords
Topological Analysis of a Novel Compact Omnidirectional Three-Legged Robot with Parallel Hip Structures Regarding Locomotion Capability and Load Distribution
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DOI: 10.3390/robotics10040117
Abstract: In this study, a novel design for a compact, lightweight, agile, omnidirectional three-legged robot involving legs with four degrees of freedom, utilizing an spherical parallel mechanism with an additional non-redundant central support joint for the… read more here.
Keywords: hip; topological analysis; omnidirectional three; legged robot ... See more keywords
Mechanical Design and Analysis of a Novel Three-Legged, Compact, Lightweight, Omnidirectional, Serial-Parallel Robot with Compliant Agile Legs
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DOI: 10.3390/robotics11020039
Abstract: In this work, the concept and mechanical design of a novel compact, lightweight, omnidirectional three-legged robot, featuring a hybrid serial–parallel topology including leg compliance is proposed. The proposal focusses deeply on the design aspects of… read more here.
Keywords: lightweight omnidirectional; mechanical design; three legged; design ... See more keywords