Design of a kinematically redundant Schönflies-motion generator with auxiliary grasping task


This paper introduces a novel kinematically redundant five-degree-of-freedom (DOF) parallel mechanism (PM) which can be fully gravity balanced. The kinematic redundancy can be used to generate large rotational workspace or perform auxiliary grasping task. The grasping task is selected as an example to be investigated in this work. Firstly, description of… (More)


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