Eureka: 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, a new parallel mechanism providing five motions: three translations plus two rotations. This device is able to reach high tilting angles (/spl plusmn/90/spl deg/ 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.
Type de document :
Communication dans un congrès
IROS: Intelligent RObots and Systems, Oct 2003, Nice, France. IEEE, pp.3575-3580, 2003, 〈10.1109/IROS.2003.1249710〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00269506
Contributeur : Christine Carvalho de Matos <>
Soumis le : jeudi 3 avril 2008 - 08:21:37
Dernière modification le : jeudi 6 décembre 2018 - 15:06:02

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Sébastien Krut, Olivier Company, François Pierrot. Eureka: a new 5-degree-of-freedom redundant parallel mechanism with high tilting capabilities. IROS: Intelligent RObots and Systems, Oct 2003, Nice, France. IEEE, pp.3575-3580, 2003, 〈10.1109/IROS.2003.1249710〉. 〈lirmm-00269506〉

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