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.
CITATION STYLE
Libera, F. D., Penaloza, C. I., Yoshikawa, Y., & Ishiguro, H. (2016). Kinematic analysis of a 3D printable 4-DOF desktop robot actuated exclusively by Revolute Pairs. In Advances in Intelligent Systems and Computing (Vol. 302, pp. 1627–1638). Springer Verlag. https://doi.org/10.1007/978-3-319-08338-4_117
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