Four-Dof PKM with Articulated Travelling-Plate - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2006

Four-Dof PKM with Articulated Travelling-Plate


This paper discusses some ways to achieve large tilting motions with PKM by resorting to articulated travelling plate. Different known options are firstly presented: remote actuation, hybrid architectures, redundancy, rotation amplification, and translation-to-rotation transformation. Starting from two of those features, the aim of this paper is to go one step further and to analyse various ways to obtain 4-dof robots which compare directly with commercially available Delta-like robots in terms of technology, workspace, and performance while avoiding the central, telescopic, RUPUR kinematic chain.


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lirmm-00105558 , version 1 (11-10-2006)


  • HAL Id : lirmm-00105558 , version 1


François Pierrot, Olivier Company, Sébastien Krut, Vincent Nabat. Four-Dof PKM with Articulated Travelling-Plate. PKS'06: Parallel Kinematics Seminar, Apr 2006, Chemnitz (Allemagne), pp.25-26. ⟨lirmm-00105558⟩
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