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WO2024234101A1 - Mécanisme parallèle avec un mécanisme d'actionneur pour un dispositif de préhension actionnée à distance - Google Patents

Mécanisme parallèle avec un mécanisme d'actionneur pour un dispositif de préhension actionnée à distance Download PDF

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Publication number
WO2024234101A1
WO2024234101A1 PCT/CA2024/050660 CA2024050660W WO2024234101A1 WO 2024234101 A1 WO2024234101 A1 WO 2024234101A1 CA 2024050660 W CA2024050660 W CA 2024050660W WO 2024234101 A1 WO2024234101 A1 WO 2024234101A1
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WO
WIPO (PCT)
Prior art keywords
robot according
gripper
end effector
link
fingers
Prior art date
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Pending
Application number
PCT/CA2024/050660
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English (en)
Inventor
Mario Philip LAPIERRE
Clément GOSSELIN
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Universite Laval
Original Assignee
Universite Laval
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universite Laval filed Critical Universite Laval
Publication of WO2024234101A1 publication Critical patent/WO2024234101A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/028—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by cams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum

Definitions

  • the actuators of parallel robots can be ⁇ xed to the base or mounted on links that are close to the base, the reduction ratios of the mechanical drives can be reduced or made equal to unity (direct-drive), thereby drastically reducing the inertia re ⁇ ected at the end effector.
  • a robot comprising: a gripper having at least a pair of fingers movable relative to one another in a grasping action; a parallel mechanism having an end effector operatively supporting the gripper, the parallel mechanism being operable to selectively displace the gripper in three translational degrees of freedom (DOF), the parallel mechanism having a leg for imparting rotational movement to the end effector; and an actuator mechanism to actuate the gripper in the grasping action, the actuator mechanism including a member displaceable in translation relative to the end effector, the member operatively connected to the gripper such that the translation causes the grasping action, a link pivotally connected at a first end thereof to the leg by a first joint having at least one rotational degree of freedom, the link pivotally connected at a second end thereof to the member by a second joint having at least one rotational degree of freedom, whereby a rotational actuation of the leg is convertable to said translation via the link.
  • DOF translational degrees of freedom
  • a pin-in-slot mechanism may be between the member and the fingers.
  • the fingers are connected to the end effector by four-bar linkages.
  • the four-bar linkages are parallelogram four-bar mechanisms.
  • a link of each of the four-bar linkage is operatively connected to the member for causing the grasping action from the translation of the member.
  • the link of each of the four-bar linkage is connected to the member by a pin-in-slot mechanism
  • a pin may be at the end of the link of each of the four-bar linkage for forming the pin-in-slot mechanism.
  • the fingers move in a constant orientation relative to the end effector.
  • the fingers each have a distal inward surface.
  • the robot has two of the fingers, and wherein the distal inward surfaces of the fingers are parallel to one another.
  • the member defines a suction passage therethough, and further including a suction cup at the distal end of the member, between the pair of fingers, the suction cup being in fluid communication with the suction passage.
  • the member is tubular, the suction passage being defined by an inner cavity of the member.
  • the end effector is unconstrained in one rotational degree of freedom, such that the leg imparts unlimited revolutions to the end effector.
  • the first joint is a revolute joint.
  • the second joint is a revolute joint.
  • the parallel mechanism constrains the end effector to movement in three translational degrees of freedom and one rotational degree of freedom.
  • the robot has five actuators, such as in a 4+1 configuration.
  • one of the five actuators is for the leg and is on a base.
  • all of the five actuators, except for the one actuator for the leg are rotational actuators having rotational axes parallel to one another.
  • Fig. 1 is a schematic view of kinematically redundant 4+1 DOF parallel mechanism having an actuator mechanism in accordance with a variant of the present disclosure
  • Fig.3 is a cross section of a gripper actuated by the actuator mechanism of the present disclosure, closed (left) and open (right);
  • Fig. 4 an elevation view of the actuator mechanism of the present disclosure, corresponding to the gripper being closed (left), and the gripper being open (right);
  • Fig.5 is a geometric representation of the gripper, closed (left) and open (right);
  • Fig.6 is a geometric representation of the redundant link, gripper closed (left) and gripper open (right);
  • Fig.7 is a perspective view of a parallel robot as in Fig.1, with the actuator mechanism of the present disclosure;
  • Fig.8 is a schematic view of an unlimited rotation workspace (blue volume) superimposed on the parallel robot with the actuator mechanism of Fig.7; [0035] Fig.
  • Fig. 9 is an exemplary graph of experimental results for a high-speed trajectory: actuated joint position, joint position error and joint torque;
  • Fig. 10 is an exemplary graph of experimental results for a high-speed trajectory: position and velocity along the x axis;
  • Fig.11 is an exemplary set-up with the force sensor on the end-effector;
  • Fig.12 is an exemplary graph of velocity and force for a 2Hz oscillatory motion imparted on the end-effector along the x and z axes;
  • Fig.13 is an exemplary graph of velocity and force for a 1 Hz oscillatory motion imparted on the end-effector in the x and z axes.
  • the present disclosure pertains to a parallel mechanism, also referred to as a parallel robot, that may be said to be a low-impedance mechanically backdrivable robot for intuitive pHRI, for example.
  • a parallel mechanism also referred to as a parallel robot
  • direct-drive actuators are used, thereby eliminating the ampli ⁇ cation of rotor inertia.
  • the mass and inertia of the moving parts may also be reduced.
  • low-impedance mechanical backdrivability is obtained, such that the human user may feel but a fraction of the inertia of standard cobots.
  • the parallel robot of the present disclosure may integrate an actuator mechanism in its architecture, such that a redundant DOF can be used to operate a gripper at the end effector, as an option. Accordingly, it is possible to operate the gripper from actuators on the base, in a possible configuration. This removes the need for a sixth actuator at the end effector to operate the gripper, thereby further reducing the moving mass and inertia at the end effector.
  • the need for a motor at the end effector would otherwise entail the use of an electrical cable or like wire or pipe, that would prevent unlimited rotation.
  • the actuator mechanism of the present disclosure allows a remotely operated gripper to maintain an unlimited rotation feature of the parallel robot while reducing the mass and inertia needed to operate such a gripper.
  • the parallel robot 10 may be referred to as a Selective Compliance Assembly Robot Arm (SCARA), taking into account a contemplated use.
  • SCARA Selective Compliance Assembly Robot Arm
  • the parallel robot 10 may have a base 11 (a.k.a., frame, ground) and an end effector 12 (a.k.a., moving platform 12), the base 11 being provided to support legs that actuate the motion of the end effector 12.
  • the base 11 may or may not be part of the parallel robot 10.
  • the parallel robot 10 may be mounted to an existing structure, to the ground, etc, in which case the base 11 is not an integral part of the parallel robot 10.
  • the expressions “proximal” and “distal” are used herein, according to the convention by which proximal is on the side of the base 11 and distal is on the side of the end effector 12.
  • the end effector 12 is shown without any component thereon, but may support a gripper as detailed hereinafter. Alternatively, the end effector 12 may receive thereon equipment, systems, tools, seats, etc, all of which depend on the use of the parallel robot 10.
  • the parallel robot 10 has legs that may be composed of various joints interconnecting links (a.k.a., bars, linkages, members), such as: x Revolute joints (R): joints providing one rotational degree of freedom (rDOF), which may be referred to as pivots, hinges, etc.; x Prismatic joints or sliding joints (P): joints providing one translational degree of freedom (tDOF); x Cylindrical joints (C): joints providing one tDOF and one rDOF; x Universal joints (U): joints providing two rDOFs, with rotational axes of the two rDOFs intersecting each other at an intersection (e.g., a center); x Spherical joints (S): joints providing three rDOFs, with rotational axes of the rDOFs intersecting each other at a center.
  • R Revolute joints
  • rDOF rotational degree of freedom
  • P Prismatic joints or sliding joints
  • P joints providing one translational degree of
  • the axis of rotation of the end effector 12 is constrained by two parallelogram linkages 13A contained in legs 13.
  • the end effector 12 may be constrainted to moving in three translations DOFs, and may rotate about its longitudinal axis in an embodiment. These two legs 13 also control two translational DOFs of the end effector 12.
  • four spherical joints or universal joints
  • the third translational DOF and the orientation DOF of the end effector 12 are controlled by the position of a rigid link 14, connected for instance to the proximal end of the end effector 12 with a revolute joint 14A.
  • the link 14 is part of a leg 15, and its position is controlled by the interaction between leg 15 and two other legs, namely legs 16.
  • Leg 15 may have a RSSR configuration (or alternatively, RUUR, RUSR, RSUR), with the R joint being on the base 11 with its actuator 15B.
  • the distalmost S joint or U joint may interconnect the link 14 to link 15A.
  • Legs 16 are connected to the link 15A, and may also have a RSS configuration (or alternatively, RUU, RUS, RSU), with the R joint being on the base 11 with the actuator 16B.
  • Other options are possible.
  • the architecture is such that the legs 16 can impart a rotation to the link 14 of the leg 15 by their actuation, the rotation being with respect to axis Y in Fig.1.
  • the end effector 12 may rotate about its longitudinal axis, parallel to axis Y in Fig.1.
  • the rotational axes of the actuators 13B and 16B are all parallel to one another, and may lie in a common plane.
  • the rotational axes of the actuators 13B and 16B may optionally all be collinear, as in Fig.7.
  • a rotational axis of the actuator 15B may be transverse to the rotational axes of the actuators 13B and 16B.
  • the parallel robot 10 Since there is the revolute joint 14A between the rigid link 14 and the end effector 12, their relative orientation can be adjusted and the parallel robot 10 has therefore one redundant DOF in addition to the four basic DOFs corresponding to the SCARA motion.
  • the parallel robot 10 being an example of a robot 10 that may use an actuator mechanism in accordance with the present disclosure, as described as actuator mechanism 30 below.
  • the geometric model of the parallel robot 10 is shown with reference to Fig. 1, and may be referred to as a Selective Compliance Assembly Robot Arm (SCARA), taking into account a contemplated use.
  • SCARA Selective Compliance Assembly Robot Arm
  • the kinematic modelling focuses on the architecture that moves the tool centre point (TCP) along the xyz axes and rotates around the y axis.
  • the distance between points B i and S i is expressed in order to obtain the constraint equations More details leading to (1) are known in the art.
  • the Jacobian matrices providing the relationship between the actuator joint velocities (de ⁇ ned by vector ⁇ ⁇ , containing all ⁇ ve actuated joint velocities) and the Cartesian velocities ( ⁇ ) ⁇ of the end effector are defined as with [0052] It is noted that the vector of Cartesian velocities is augmented with ⁇ , which is the velocity associated with the redundant DOF. [0053] The Jacobian matrices can be expressed as a w where vi is the distance between point Bi and point B5.
  • Equation (19) is used in the robot’s controller to prescribe a Cartesian position to the TCP and orientation of the end effector and to compute the corresponding joint coordinates.
  • the key to the direct kinematics of the parallel robot 10 is obtained by ⁇ nding the intersections of spheres of radius l i2 .
  • FIG.3 an embodiment of the gripper 20 is illustrated and has two ⁇ ngers 21 that are maintained parallel to each other through the use of four-bar linkages 22 (e.g., optionally a parallelogram as shown), by which they are pivotally connected to the end effector 12, shown as being tubular, and referred to as wrist 24.
  • the combination of the fingers 21 and the linkages 22 that connect the fingers 21 to the wrist 24 may be referred to as a finger assembly.
  • any one of the fingers may be defined as including 21 and one of the linkages 22, in which case 21 is a distal phalange.
  • the fingers 21 could be connected to the wrist 24 in other ways, including with a single pivot joint.
  • the actuation of the ⁇ ngers 21 is achieved by the linear motion of a slider 23 (also referred to as translating component 23) that moves through the robot’s wrist 24, defined by the tubular body of the end effector 12.
  • the slider 23 may or may not be a part of the gripper 20.
  • the slider 23 is linked to the ⁇ ngers 21 with a pin-in-slot mechanism 25, as one possible mechanical arrangement to convert the linear motion of the slider 23 to an angular motion of the linkages 22, resulting in a translation of the fingers 21.
  • Links 22A of the four-bar linkages 22 have an extension at the end of which pin 22B or like follower is present, to be part of the mechanism 25.
  • Links 22A may have a V-shape as illustrated, but other shapes are possible.
  • Another possible configuration for the mechanism 25 is to have a rack on the translating component 23, and pinion(s) rotating with a link of the four-bar linkage 22.
  • the fingers are the links 22A (there are no four-bar linkages 22).
  • the fingers 22A would rotate toward a grasping position.
  • the actuator mechanism of the present disclosure pertains to the linear motion at the end effector.
  • the configuration of Fig.3, with the parallelogram four-bar linkages 22, may constrain the fingers 21 to a translational movement.
  • the fingers 22 may thus be said to have a constant orientation relative to the wrist 24.
  • the tips 21A of the fingers 21 each have an inward surface, with the inward surfaces of the tips 21A being parallel to one another and meeting at a common plane.
  • the vacuum suction cup 26 may optionally be mounted at the extremity of the slider 23.
  • This slider 23 may be a hollow shaft, making it possible to convey the vacuum to the suction cup 26 through it. This is optional as there may not be any suction capability at the gripper 20.
  • an actuator mechanism 30 in accordance with the present disclosure may be used, as shown in Fig.4.
  • the actuator mechanism 30 may have a translational joint having a rod displaceable in translation.
  • the translational joint may be a prismatic joint or a cylindrical joint (e.g., with inactive rotation).
  • the rod is the slider 23, and may optionally be hollow.
  • Other expressions may be used for 23, such as shaft, link, or any other like member.
  • the rod 23 is operatively connected to the gripper 20 such that the translation causes a grasping action, as detailed with reference to Fig.3.
  • the grasping action may include movement toward and away from a grasp.
  • the translation joint may also include the tubular body of the end effector 12 (e.g., wrist 24), which tubular body may rotate on itself, i.e., along a central axis of its tubular body.
  • the actuator mechanism 30 may also have a link 31 pivotally connected at a first end thereof to the link 14 by a first revolute joint 31A (though other joints could be used).
  • the link 31 is pivotally connected at a second end thereof to the rod 23 by a second revolute joint 31B (though other joints could be used).
  • the second revolute joint 31B may for example include a yoke and a crosspiece (shown as a rod).
  • the actuator mechanism 30 may be described as a crank-slider mechanism, as the link 14 may act as a crank for the slider 23.
  • This architecture is such that the parallel robot 10 is operable to selectively displace the gripper 20 in three translational degrees of freedom (DOF), the parallel robot 10 using the leg 15 for imparting unlimited revolutions in one rotational DOF to the gripper 20.
  • DOF translational degrees of freedom
  • directions of movement of the link 31 and of the rod 23 lie in a plane of movement.
  • the axes of the first revolute joint 31A and of the second revolute joint 31B are normal to the plane of movement.
  • Fig.5 shows the geometric model of one of the ⁇ ngers 21 of the gripper 20. Closed (left) and open (right) con ⁇ gurations are depicted to illustrate the motion.
  • a controller 40 (Fig.7) may be present to operate the actuators in the R joints and hence control the movements of the end effector 12.
  • the controller 40 may include one or more processing units 41, and a non-transitory computer-readable memory 42 communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit 41.
  • the controller 40 may also be present in the other variants of the parallel robot 10 shown herein.
  • the computer-readable program instructions may be based on the kinematic modeling described below. [0067]
  • the constraint equations can be written as where e x and e y are the position coordinates of the pivot at point E, l 3 is the length of the input link of the gripper 20 and ⁇ is the input angle of this link, and where l 4 is the length of one link of the parallelogram 22, ⁇ is the (constant) angle between the input link and the parallelogram link and l 5 is the horizontal offset of the end link.
  • Equation (29) is the fundamental relationship between the input u and the output d of the gripper 20.
  • the input u is prescribed and (29) is solved for d, which leads to which is a quadratic equation yielding at most two solutions.
  • Fig.6 shows the geometric representation of the crank-slider mechanism used to induce a linear displacement u on the slider through the angular motion of the redundant link.
  • equation (45) the Jacobian matrices of the parallel robot 10 need to be updated with the relationship between the speed of opening d of the gripper 20 and the angular velocity ⁇ of the redundant link.
  • Fig.8 shows the model of the parallel robot 10 on which the workspace is superimposed.
  • Fig.9 and Fig.10 present the experimental results obtained with the parallel robot 10 for this trajectory.
  • the actuated joint coordinates are ⁇ rst shown, followed by the joint errors, as well as the motor torques.
  • the Cartesian position and speed are then presented in Fig. 10.
  • the maximum acceleration prescribed to the parallel robot 10 during this trajectory is 1.76g, where g stands for the gravitational acceleration and the maximum speed of 2.5 m/s is calculated from the joint positions.
  • the payload of the parallel robot 10 can be increased by adding a counterweight on the upper proximal link, but this is at the expense of increasing the inertia of the robot 10 along the vertical direction (along the y axis).
  • an oscillatory motion is performed at the end effector along axes x and z with the robot in a collaborative mode.
  • a force sensor is mounted at the end effector (as depicted in Fig.11) in order to measure the required force from the user to produce the oscillatory motion.
  • the results are illustrated in Fig.12 and Fig.13.
  • an oscillatory motion was imparted with the maximum speed possible from the user to demonstrate the high-backdrivabilty bandwidth of the parallel robot 10, which showed to be around 2Hz.
  • a 1Hz oscillatory motion was applied on the end effector to show the low force needed to displace the gripper 20.
  • the results show that with a peak force of 12N, a 0.75m/s velocity can be applied on the end effector.
  • the parallel robot 10 can be described as being a (4+1)-DOF collaborative parallel robot with a low-impedance backdrivabilty and a remotely operated built-in gripper 20.
  • the robot 10 may thus achieve high speed and acceleration performances whilst having a great payload capability.
  • the low- impedance mechanical backdrivabilty is proved through experiments, as well as the high physical interaction bandwidth, which greatly exceeds that of conventional cobots.
  • the robot 10 may be safe for pHRI through its ability to perform an emergency stop following a collision.
  • the robot 10 may generally be described as having a gripper having at least a pair of fingers movable relative to one another in a grasping action; a parallel mechanism having an end effector operatively supporting the gripper, the parallel mechanism being operable to selectively displace the gripper in three translational degrees of freedom (DOF), the parallel mechanism having a leg for imparting rotational movement to the end effector; and an actuator mechanism to actuate the gripper in the grasping action, the actuator mechanism including a member displaceable in translation relative to the end effector, the member operatively connected to the gripper such that the translation causes the grasping action, a link pivotally connected at a first end thereof to the leg by a first joint having at least one rotational degree of freedom, the link pivotally connected at a second end thereof to the member by a second joint having at least one rotational degree of freedom, whereby a rotational actuation of the leg is convertable to said translation via the link.
  • DOF translational degrees of freedom

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot comportant un dispositif de préhension comportant au moins une paire de doigts mobiles les uns par rapport aux autres dans une action de préhension. Un mécanisme parallèle comporte un effecteur terminal supportant de manière fonctionnelle le dispositif de préhension, le mécanisme parallèle étant utilisable pour déplacer de manière sélective le dispositif de préhension dans trois degrés de liberté de translation (DOF), le mécanisme parallèle comportant une jambe pour communiquer un mouvement de rotation à l'effecteur terminal. Un mécanisme actionneur peut actionner le dispositif de préhension dans l'action de préhension, le mécanisme actionneur comprenant un élément pouvant être déplacé en translation par rapport à l'effecteur terminal, l'élément étant relié de manière fonctionnelle au dispositif de préhension de telle sorte que la translation provoque l'action de préhension, une liaison étant reliée de manière pivotante à une première extrémité de celle-ci à la jambe par une première articulation présentant au moins un degré de liberté de rotation, la liaison étant reliée de manière pivotante à une seconde extrémité de celle-ci à l'élément par une seconde articulation présentant au moins un degré de liberté de rotation. Un actionnement rotatif de la jambe peut être converti en ladite translation par le biais de la liaison.
PCT/CA2024/050660 2023-05-18 2024-05-17 Mécanisme parallèle avec un mécanisme d'actionneur pour un dispositif de préhension actionnée à distance Pending WO2024234101A1 (fr)

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US202363503036P 2023-05-18 2023-05-18
US63/503,036 2023-05-18

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6339969B1 (en) * 1999-06-04 2002-01-22 Septimiu E. Salcudean Three-degree-of-freedom parallel planar manipulator
FR2877867A1 (fr) * 2004-11-18 2006-05-19 Sydel Sa Dispositif de prehension pour robot parallele
US20060245894A1 (en) * 2005-03-21 2006-11-02 Michael Merz Parallel robot
EP2799190A2 (fr) * 2013-05-02 2014-11-05 Krones Aktiengesellschaft Dispositif de manutention d'articles
US10265862B1 (en) * 2016-06-21 2019-04-23 University Of South Florida Robotic end effectors for use with robotic manipulators
WO2021098007A1 (fr) * 2019-11-20 2021-05-27 浙江汉朔电子科技有限公司 Manipulateur

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6339969B1 (en) * 1999-06-04 2002-01-22 Septimiu E. Salcudean Three-degree-of-freedom parallel planar manipulator
FR2877867A1 (fr) * 2004-11-18 2006-05-19 Sydel Sa Dispositif de prehension pour robot parallele
US20060245894A1 (en) * 2005-03-21 2006-11-02 Michael Merz Parallel robot
EP2799190A2 (fr) * 2013-05-02 2014-11-05 Krones Aktiengesellschaft Dispositif de manutention d'articles
US10265862B1 (en) * 2016-06-21 2019-04-23 University Of South Florida Robotic end effectors for use with robotic manipulators
WO2021098007A1 (fr) * 2019-11-20 2021-05-27 浙江汉朔电子科技有限公司 Manipulateur

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
L.-T. SCHREIBER: "Schonflies Motion PARAllel Robot (SPARA): A Kinematically Redundant Parallel Robot With Unlimited Rotation Capabilities", IEEE /ASME TRANS. ON MECHATRONICS, vol. 24, no. 5, October 2019 (2019-10-01), pages 2273 - 2281, XP011751608, Retrieved from the Internet <URL:https://ieeexplore.ieee.org/document/8767942> [retrieved on 20240711], DOI: 10.1109/TMECH.2019.2929646 *

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