@inproceedings{f85c8e133af3421e9108750e435266e7,
title = "Design and Workspace Evaluation of a Novel Parallel Grasping Manipulator with Configurable Platform",
abstract = "To solve the lack of grasping performance caused by separate driven device installed at the end-effector of parallel grasping manipulator, a novel parallel grasping manipulator with configurable platform is presented in this paper. Firstly, the modified Gr{\"u}bler-Kutzbach equation is utilized to verify that the parallel grasping manipulator has 4 degree-of-freedom (DOF), including 3-DOF for plane motion and 1-DOF for grasping. Based on the link constraint equation, the input-output velocity relationship and Jacobian matrix are obtained. The workspace performance of the parallel grasping manipulator under the coupled DOFs is evaluated. Singularity analysis is studied to demonstrate the manipulator can produce ±90° large rotation angle due to kinematical redundancy. The optimum structure dimension parameters are determined by comparing workspace performance under the constraint range of each link. At last, a prototype is constructed based on the determined dimension parameters, and the experiment of motion DOFs and grasping ability are carried out. The results show that the proposed parallel grasping manipulator has good motion ability and grasping performance.",
keywords = "configurable platform, grasping, kinematics, parallel manipulator, workspace evaluation",
author = "Fuqun Zhao and Donglai Xu and Xiaodong Jin and Sheng Guo and Kun Xu",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.; 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 ; Conference date: 05-07-2023 Through 07-07-2023",
year = "2023",
doi = "10.1007/978-981-99-6489-5\_28",
language = "英语",
isbn = "9789819964888",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "348--360",
editor = "Huayong Yang and Jun Zou and Geng Yang and Xiaoping Ouyang and Honghai Liu and Zhiyong Wang and Zhouping Yin and Lianqing Liu",
booktitle = "Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings",
address = "德国",
}