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Modelling, trajectory optimisation and prototyping of sequentially actuated manipulators

Published online by Cambridge University Press:  27 September 2018

David Harton ,
Thierry Laliberté  and
Clément Gosselin Open the ORCID record for Clément Gosselin [Opens in a new window]
David Harton
Affiliation:
Département de génie mécanique, Université Laval, Québec, QC, Canada. E-mails: david.harton.1@ulaval.ca, thierry@gmc.ulaval.ca
Thierry Laliberté
Affiliation:
Département de génie mécanique, Université Laval, Québec, QC, Canada. E-mails: david.harton.1@ulaval.ca, thierry@gmc.ulaval.ca
Clément Gosselin*
Affiliation:
Département de génie mécanique, Université Laval, Québec, QC, Canada. E-mails: david.harton.1@ulaval.ca, thierry@gmc.ulaval.ca
*
*Corresponding author. E-mail: gosselin@gmc.ulaval.ca
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Summary

This paper presents a concept of sequentially actuated multi-degree-of-freedom (DOF) robot with only one motor. A switching mechanism allowing to actuate sequentially the different joints–or combinations of the joints–of the robot is also proposed. Potential actuation schemes (joint combinations) are presented and their properties are discussed. Cartesian pick-and-place trajectories are then considered using different actuation schemes. An optimisation algorithm is presented in order to provide the best possible sequence by minimising the amplitude of the joint rotations for a given actuation combination. A simple planar two-DOF and the SCARA architectures are used to illustrate the concept. Finally, a prototype is developed with the aim of demonstrating the sequentially actuated manipulator concept.

Keywords

Sequential actuationSerial robotParallel robotOptimisation
Type
Articles
Information
Robotica , Volume 37 , Issue 2 , February 2019 , pp. 281 - 299
Copyright
Copyright © Cambridge University Press 2018 

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