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Four-Dof PKM with Articulated Travelling-Plate

Abstract : 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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Submitted on : Wednesday, October 11, 2006 - 3:31:52 PM
Last modification on : Friday, October 22, 2021 - 3:07:19 PM
Long-term archiving on: : Tuesday, April 6, 2010 - 7:22:51 PM


  • 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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