A 4-DoF Parallel Robot With a Built-in Gripper for Waste Sorting
نویسندگان
چکیده
This article presents a new robot concept dedicated to fast and energy-efficient waste sorting applications. parallel can provide at the same time three translations in space (3-DoF) opening/closing of built-in gripper (1 additional DoF). The movement clamp is enabled thanks configurable platform end structure. composed two-gear train which directly controlled by 4 actuators attached base manipulator. inverse kinematic as well differential models have been developed. A first prototype has realized validate this architecture for pick-and-toss tasks.
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ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2022
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2022.3192582