On the Design of a Fast Parallel Robot Based on Its Dynamic Model

A high-speed, four-degree-of-freedom (dof), parallel robot is analysed by considering in detail its dynamic model as well as issues directly linked to its practical design. A small change in its kinematics is then proposed that lead to a dramatic change in its dynamic behaviour, providing room for a radical improvement and a new version of the robot.

Domaines

Automatique / Robotique

François Pierrot : Connectez-vous pour contacter le contributeur

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00232868

Soumis le : samedi 2 février 2008-14:26:42

Dernière modification le : vendredi 24 mars 2023-14:52:49

Dates et versions

lirmm-00232868 , version 1 (02-02-2008)

Identifiants

HAL Id : lirmm-00232868 , version 1
DOI : 10.1007/978-3-540-77457-0

Citer

Vincent Nabat, Sébastien Krut, Olivier Company, Philippe Poignet, François Pierrot. On the Design of a Fast Parallel Robot Based on Its Dynamic Model. Experimental Robotics, Springer, pp.409-419, 2008, 978-3-540-77456-3. ⟨10.1007/978-3-540-77457-0⟩. ⟨lirmm-00232868⟩

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