In this paper a parallel manipulator with tripod architecture is proposed with the closed-form formulation of its functioning. The mechanism is 3-Degrees-of-Freedom manipulator that can be used as robotic leg for mobile walking robots with two or more legs. The kinematic design is characterized by direct linear drives in the links of the tripod architecture and by a mechanism providing a spherical motion to the foot end-effector.
Kinematic Design of a Tripod Parallel Mechanism for Robotic Legs
Russo, Matteo;Ceccarelli, Marco
2018-01-01
Abstract
In this paper a parallel manipulator with tripod architecture is proposed with the closed-form formulation of its functioning. The mechanism is 3-Degrees-of-Freedom manipulator that can be used as robotic leg for mobile walking robots with two or more legs. The kinematic design is characterized by direct linear drives in the links of the tripod architecture and by a mechanism providing a spherical motion to the foot end-effector.File in questo prodotto:
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