Control of a 3-DOF Over-Actuated Parallel Mechanism

This paper presents the control of ARCHI, a 3-dof over-actuated parallel mechanism, designed as a subpart of a 5-axis hybrid machining robot. Control strategies of the parallel sub-mechanism (3 dof / 4 actuators) managing the internal constraint on the mechanism are proposed and experimental results are discussed.

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Other [cs.OH]

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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00191519

Submitted on : Monday, November 26, 2007-10:43:48 AM

Last modification on : Friday, March 24, 2023-2:52:49 PM

Long-term archiving on : Monday, April 12, 2010-4:58:50 AM

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lirmm-00191519 , version 1 (26-11-2007)

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HAL Id : lirmm-00191519 , version 1
DOI : 10.1115/DETC2002/MECH-34343

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Frédéric Marquet, Olivier Company, Sébastien Krut, Olivier Gascuel, François Pierrot. Control of a 3-DOF Over-Actuated Parallel Mechanism. DETC: Design Engineering Technical Conferences - CIE: Computers and Information in Engineering Conference, Sep 2002, Montreal, Canada. pp.1185-1191, ⟨10.1115/DETC2002/MECH-34343⟩. ⟨lirmm-00191519⟩

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