A Kinematically Redundant (6+1)-dof Hybrid Parallel Robot for Delicate Physical Environment and Robot Interaction (pERI)
Jehyeok Kim,Clément Gosselin,Jehyeok Kim,Clément Gosselin
A novel kinematically redundant 6+1-degree-of-freedom (dof) spatial hybrid parallel robot is proposed. Each of the two legs of the robot has a fully parallel structure to minimize the moving inertia by mounting actuators on the base. The kinematic model of each leg and overall robot architecture is developed based on the constraint conditions of the robot geometry. The singularity analysis of legs...
