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This paper presents a novel 9-DoF parallel robot with grasping capabilities and an enhanced rotational workspace. The 5 \(\underline{{P}}SS\) - \(S\) -4 \(\underline{{P}}SS\) robot provides 3 DoFs for translation and 6 DoFs for the orientation of the two effectors, making it highly versatile for various manipulation tasks. Additionally, this work includes the kinematic analysis of the proposed structure, an exploration of its translational and rotational workspaces, and a CAD model validating the concept while considering mechanical constraints.

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Kinematic Analysis and Design of a Novel 9-DOF Parallel Robot with Grasping Capabilities

  • 会议论文

  • 发表日期：

    2025年

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  • Grover Aruquipa,
  • Patrice Lambert,
  • Clément Gosselin

摘要

This paper presents a novel 9-DoF parallel robot with grasping capabilities and an enhanced rotational workspace. The 5 \(\underline{{P}}SS\) - \(S\) -4 \(\underline{{P}}SS\) robot provides 3 DoFs for translation and 6 DoFs for the orientation of the two effectors, making it highly versatile for various manipulation tasks. Additionally, this work includes the kinematic analysis of the proposed structure, an exploration of its translational and rotational workspaces, and a CAD model validating the concept while considering mechanical constraints.