GreenBrid
GreenBrid is a new type of hybrid arm, with the advantages of both serial and parallel robots. The lower part of the robot is a parallel−chain robotic system, responsible for offering an extremely high payload. The higher part is a serial-chain system, providing larger workspace and motion range. It has seven degree of freedoms, three for the parallel system, and four for the serial arm. This redundancy enables the robot to operate a given main task and perform a subtask simultaneously. For example, the singularity avoidance, the subtask of avoiding being out-of-range, or the collision avoidance! |
DesignA New type of hybrid arm, acquiring the advantages from both types of serial and parallel robots, responsible for offering both an extremely high payload and flexible manipularity
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ControlUsing Second-order control with Backward Floating Base Jacobian Algorithms allows an inversion of a motion trajectory specified in terms of position, velocity and acceleration.
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ImpedanceSecond-order Based Impedance control allows Greenbrid to be compliant to the force applied from the environment. Tuning the Stiffness and Damp Matrix is able to change the joints flexibility
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