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Analysis of a High Resolution Planar PKM

Olivier Company 1 Sébastien Krut 1 François Pierrot 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 presents a kinetostatic analysis of a planar parallel mechanism intended to be used in high accuracy operation. The machine architecture is peculiar in at least two aspects: it is designed to operate in a near-singularity configuration and is build with flexible joints. Kinematic and kinetostatic modeling allow to evaluate the theoretical improvement of the resolution, as well as forces created by both inertial effects and elastic deformation of joints. The final design of the micro-stage is presented as well as the obtained prototype.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00124013
Contributor : François Pierrot <>
Submitted on : Friday, January 12, 2007 - 9:02:30 AM
Last modification on : Monday, December 17, 2018 - 10:44:01 AM
Document(s) archivé(s) le : Wednesday, April 7, 2010 - 2:07:00 AM

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  • HAL Id : lirmm-00124013, version 1

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Olivier Company, Sébastien Krut, François Pierrot. Analysis of a High Resolution Planar PKM. IFToMM World Congress in Mechanism and Machine Science, Jun 2007, Besançon, France. ⟨lirmm-00124013⟩

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