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On PKM with Articulated Travelling-Plate and Large Tilting Angles

François Pierrot 1 Olivier Company 1 Sébastien Krut 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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 propose two ideas: (1) It might be indeed possible to obtain a 4-dof design which compares directly with commercially available Delta-based robots (e.g. the FlexPicker, an ABB Robotics equipment) in terms of technology, workspace, and performance while avoiding the RUPUR kinematic chain. (2) It might be possible to design a 5-dof machine with large tilting angle about two axes.
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Submitted on : Tuesday, October 24, 2006 - 7:31:41 AM
Last modification on : Friday, October 22, 2021 - 3:07:19 PM
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  • HAL Id : lirmm-00109130, version 1



François Pierrot, Olivier Company, Sébastien Krut. On PKM with Articulated Travelling-Plate and Large Tilting Angles. IMEC'04: 11th International Machine-Tool Engineers Conference, Nov 2004, Tokyo, Japan. pp.285-296. ⟨lirmm-00109130⟩



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