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Parallel robotics mechanism with redundant actuation without over-stress

This project derives from the development of a parallel robotic mechanism (movement platform) displaying a wide range of rotational displacement. This type of mechanism will find important applications in the fields of flight simulators (especially helicopter simulators), entertainment (virtual reality rides), industrial robots, and haptic interfaces and devices.

The technology consists of a novel arrangement of the platform drive mechanisms that enable the integration of additional actuators without over-stressing the structure of the platform. This innovation maintains the fundamental properties of classical parallel mechanisms and, importantly, circumvents the singularity problems that are the main limitation of current platforms; by achieving this, rotation ranges increase from 45 to 80°.

A video is worth a thousand words:
https://www.youtube.com/watch?v=Bf_1pUyjNiM

References

  • Badeau N, C Gosselin, S Foucault, T Laliberté, and M Abdallah (2018). Intuitive physical human-robot interaction using a passive parallel mechanism. IEEE Robotics and Automation Magazine 25(2): 28-38.

  • Gosselin C, T Laliberté, and A Veillette (2015). Singularity-free kinematically redundant planar parallel mechanisms with unlimited rotational capability. IEEE Trans Robotics 31: 457-467.

  • Gosselin C and L-T Schreiber (2016). Kinematically redundant spatial parallel mechanisms for singularity avoidance and large orientational workspace. IEEE Trans Robotics 32: 286-300.

  • Gosselin C and L-T Schreiber (2018). Redundancy in parallel mechanisms: A review. Appl Mech Rev 70: 010802.

  • Kong X and C Gosselin (eds) (2007). Type synthesis of parallel mechanisms. Springer Tracts in Advanced Robotics, volume 33, Springer, 280 pages.

  • Schreiber L-T and C Gosselin (2018). Kinematically redundant planar parallel mechanisms: kinematics, workspace and trajectory planning. Mech Mach Theory 119: 91-105.

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Opportunities

SOVAR and Université Laval seek a partner or partners to finalize the development of and commercialize this technology.

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