Parallel robots with reconfigurable effectors:
theory and applications
Assistant Professor in Robotics and Automation
Laboratoire de robotique
Dép. de génie mécanique, U. Laval
Friday, December 16, 2022, 12 p.m.
Parallel robots are traditionally composed of two rigid bodies, the base and the effector, connected in parallel by independent kinematic chains, referred to as legs. Normally, one joint per leg near the base is operated to allow control of the effector. Reconfigurable end-effectors replace the rigid body of the end-effector with one or more closed kinematic chains, having internal degrees of freedom, which can be used for grasping. The movements and configuration of the effector are all controlled by the leg actuators. During this presentation, general notions on parallel robots with reconfigurable effectors will be introduced, and the design and implementation of three haptic devices, having from 5 to 7 degrees of freedom, based on this concept will be discussed.
Patrice Lambert is an Assistant Professor in Robotics and Automation in the Department of Mechanical Engineering in the Faculty of Science and Engineering. He holds a Bachelor’s degree in Engineering Physics and a Master’s degree in Aerospace Engineering from Université Laval as well as a Ph.D. in Robotics from the Delft University of Technology, in the Netherlands. He worked as a postdoctoral researcher in the Netherlands until 2017, then as a Research Fellow at King’s College London, UK until 2022. His research work covers various areas of robotics, including haptic devices, parallel and cable robots, robotic grippers and fundamental aspects of mechanisms and linkages.
The presentation will be given in French and the slides will be in English.
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