Abstract
In our daily life, rigid-body robots have been widely encountered in many applications, such as industrial robots working in the assembling stream and medical robots for healthcare of patients. Rigid-body robots nowadays achieved great success in load carrying and motion compensation. However, rigid-body robots have strong stiffness during interaction with objects and may not suitable for human utilization. Compliant robotics, on the other hand, is flexible and can modulate stiffness and deformation, resulting comfortable interaction for human bodies. Motivated by taking advantage of both rigid-body robots and compliant robots, in this paper, the design of a planar robot prototype with a hybrid compliant-rigid structure is presented. Forward and inverse kinematics are analyzed for such a compliant-rigid robot. Simulation presents the feasibility of trajectory tracking on such robot for path planning tasks. The designed robot prototype is further manufactured by 3D-printing technique.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
