Design, kinematics, simulation of omni-directional bending reachability for a parallel structure forceps manipulator

Abstract

This paper presents a 5-DOF manipulator which consists of three parts, 1-DOF translational joint, a bendable skeleton (2-DOF for Omni-directional bending motion), and a rotatable forceps gripper (1-DOF for rotation, 1-DOF for opening/closing). The bendable segment in the manipulator achieves two orthogonal bending DOFs by pulling or pushing three parallel… (More)
DOI: 10.1109/BIOROB.2016.7523654

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