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Kinematic Analysis of a 3D Printable 4-DOF Desktop Robot Actuated Exclusively by Revolute Pairs

  • Fabio DallaLibera
  • Christian I. Penaloza
  • Yuichiro Yoshikawa
  • Hiroshi Ishiguro
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)

Abstract

This paper describes the kinematic structure of Yondy, a desktop robot with three rotational DOFs and one translational DOF. The kinematic structure comprises only rotational joints, easing its construction using off-the-shelf rotational actuators like servomotors. No pinion-rack or other mechanical elements are required for its construction, permitting its realization even with low-accuracy 3D printers. The robot is realized as a hybrid 4-DOF mechanism, with a planar 2-DOF parallel manipulator connected in series with other 2 DOFs. Particular focus is given to the parallel manipulator, which is interesting from a theoretical point of view because it is able to undergo nonsingular assembly mode transitions.

Keywords

Parallel manipulator Nonsingular transitions Desktop robot 

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Fabio DallaLibera
    • 1
  • Christian I. Penaloza
    • 1
  • Yuichiro Yoshikawa
    • 1
  • Hiroshi Ishiguro
    • 1
  1. 1.Department of Systems Innovation, Graduate School of Engineering ScienceOsaka UniversityToyonakaJapan

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