Design of a Backdrivable Triglide Robot
Chulalongkorn University, Thailand
The paper presents a novel Triglide robot that gives low inertia and low friction, back-drivability, no backlash, but stiffness in vertical direction. These features give the robot to be a good candidate as a collaborative assembly robot. A brief kinematics is also included. Compared to the other three translational degrees of freedom (DOF) parallel robots, the proposed Triglide is easier to construct and gives a higher stiffness in vertical direction. Its forward kinematics is also easier compared to those robots. Three experiments are used to demonstrate the capability of the robot including (1) Cascade Step response, (2) Record and Playback with a virtual wall and (3) Force control of the back-drivable Triglide.
© Owned by the authors, published by EDP Sciences, 2015
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.