Experimental Safety Analysis of R-Min, an Underactuated Parallel Robot

Abstract The R-Min robot is an intrinsically safe parallel manipulator dedicated to pick-and-place operations. proposed architecture based on a five-bar mechanism, with additional passive joints in order obtain planar seven-bar mechanism two degrees of underactuation, allowing the reconfigure case collision. A preload bar added between base and end-effector constrain degrees-of-freedom. This article presents analysis workspace safety performances robot, it compares them those evaluate benefits introducing underactuation safer robots. geometrico-static model formulated as optimization problem. direct inverse kinemato-static models are derived from they allow express singularity conditions robot. An loci carried out among robot’s workspace. controller dynamic experimentally validated prototype Finally, evaluated compared that equivalent using maximum impact force criteria accordance recent international standards.