Spider - parallel redundant planar manipulator

Spider - parallel redundant planar manipulator

Vlada
The model represents parallel redundant planar manipulator. The base is fixed, four legs, each with two links are connecting base and end effector. Under normal situation, the joints connected to the base are actuated and measured, the joints in the middle of legs and joints in the effector are freely moving. The robot has 3 degrees of freedom (DOF) and it has 4 actuators thus it is redundant. The redundancy allows to eliminate wobling of real robots as well as remove singularities of 3-leg subrobots. #manipulator #parallel #planar #redundant #robot #Sketchphysics
Default Title