Active Ankle – an Almost-Spherical Parallel Mechanism

Konferenz: ISR 2016 - 47st International Symposium on Robotics
21.06.2016 - 22.06.2016 in München, Germany

Tagungsband: ISR 2016

Seiten: 6Sprache: EnglischTyp: PDF

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Simnofske, Marc; Kumar, Shivesh; Bongardt, Bertold (DFKI GmbH, Robotics Innovation Center, Robert-Hooke-Str. 1, 28359 Bremen, Germany)
Kirchner, Frank (DFKI GmbH, Robotics Innovation Center, Robert-Hooke-Str. 1, 28359 Bremen & Universität Bremen, Fachbereich Mathematik und Informatik, Arbeitsgruppe Robotik, Germany)

Since parallel manipulators only provide restricted workspaces in comparison to their serial counterparts they cannot compete as versatile multi-purpose tools in flexible industrial setups. However, their superior properties in terms of stiffness, payload, speed, and acceleration often allow an advantageous application in more tailored use-cases. This paper lays out the concept of a novel parallel mechanism – called the ACTIVE ANKLE – which operates in an almost-spherical manner with three degrees of freedom. The text motivates the primarily intended application of the novel device as an ankle joint of a full-body exoskeleton. In addition, the paper discusses the design, the topology, results of a motion simulation, and a comparison with related mechanisms of the ACTIVE ANKLE.