A New 5-Degree-of-Freedom Redundant Parallel Mechanism with High Tilting Capabilities

Sébastien Krut 1 Olivier Company 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 introduces Eureka (see video), a new parallel mechanism providing five motions: three translations plus two rotations. This device is able to reach high tilting angles ( ±90° about a first given axis and a whole revolution about the following axis). This is due to actuation redundancy and to the specific traveling plate. Kinematic models are derived. Due to its particular shape the forward geometrical model is also derived easily. A plot of its well conditioned workspace is given. Practical designs, free of self-collisions, are shown.
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Sébastien Krut, Olivier Company, François Pierrot. A New 5-Degree-of-Freedom Redundant Parallel Mechanism with High Tilting Capabilities. IROS: Intelligent RObots and Systems, Oct 2003, Las Vegas, United States. pp.3575-3580. ⟨lirmm-00269435⟩

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