Active Ankle – an Almost-Spherical Parallel Mechanism
Conference: ISR 2016 - 47st International Symposium on Robotics
06/21/2016 - 06/22/2016 at München, Germany
Proceedings: ISR 2016
Pages: 6Language: englishTyp: PDFPersonal VDE Members are entitled to a 10% discount on this title
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.