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On PKM with articulated travelling-plate and large tilting angles

Sébastien Krut 1 François Pierrot 1 Olivier Company 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 options are firstly prsented: 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 show that it might be possible to design a 5-dof mechanism with large tilting angles about two axes.
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Submitted on : Monday, December 4, 2006 - 11:33:11 AM
Last modification on : Friday, October 22, 2021 - 3:07:19 PM


  • HAL Id : lirmm-00118110, version 1



Sébastien Krut, François Pierrot, Olivier Company. On PKM with articulated travelling-plate and large tilting angles. Jadran Lernarcic and B. Roth. Advances in Robot Kinematics, Springer, pp.445-454, 2006, 1-4020-4940-4. ⟨lirmm-00118110⟩



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