A Novel Transformable Cobot

摘要

Collaborative robot or Cobot, is a class of robotic devices designed to work directly with human operator within the same workspace. Cobots are inheritably passive and thus safe for direct physical interacting with human operators. Cobots use CVT (continuously variable transmission) connecting between their joints to constraint direction of motion. Several cobots have been developed in recent years. All have fix configurations and some will be reviewed. In this paper, we propose a novel transformable Cobot, called T-Cobot which is able to expand or retract its configuration. Design and construction of T-Cobot prototype is described. Then, kinematics is presented with computer simulation. In addition, experiment results in free and path mode are provided