A one-motor full-mobility 6-PUS manipulator
Document typeConference report
Rights accessOpen Access
This paper presents the feasibility study of an under-actuated parallel manipulator with 6-PUS topology, destined to handle work-tables in CNC machine tools. The proposed device exploits the fact that, in such an application, the path between the initial and final poses of the mobile platform is not assigned to reduce the number of actuators to only one.
CitationGrosch, P.; Di Gregorio, R.; Thomas, F. A one-motor full-mobility 6-PUS manipulator. A: CISM-IFToMM Symposium on Robot Design, Dynamics and Control. "18th CISM-IFToMM Symposium on Robot Design, Dynamics and Control". Udine: Springer, 2010, p. 49-56.