HELI4: a Parallel Robot for SCARA Motions with a Very Compact Travelling Plate and a Symmetrical Design - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2006

HELI4: a Parallel Robot for SCARA Motions with a Very Compact Travelling Plate and a Symmetrical Design

Abstract

This paper introduces Heli4 a new 4 degree-of-freedom parallel robot. It is inspired by the Delta architecture, but was designed to overcome its limitations, using an articulated traveling plate. Unlike most articulated traveling plates, Heli4’s traveling plate is very compact. Among other positive aspects is its symmetrical design. This paper gives the geometrical models, and particularly the forward position relationship which can be obtained in a closed form. In a third part, a detailed study of the robot singularities is made by taking into account the not-so classic internal singularities.

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Dates and versions

lirmm-00106296 , version 1 (03-12-2018)

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Sébastien Krut, Olivier Company, Vincent Nabat, François Pierrot. HELI4: a Parallel Robot for SCARA Motions with a Very Compact Travelling Plate and a Symmetrical Design. IROS: Intelligent RObots and Systems, Oct 2006, Beijing, China. pp.1656-1661, ⟨10.1109/IROS.2006.282120⟩. ⟨lirmm-00106296⟩
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