Four-Degree-of-Freedom Parallel Robot

François Pierrot 1 Olivier Company 1 Tetsuro Shibukawa Koji Morita
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : A four-degree-of-freedom parallel robot capable of displacing a traveling plate with four degrees of freedom at a high speed and a high acceleration and positioning the traveling plate with high rigidity and high precision. The four-degree-of-freedom parallel robot has four actuators fixed to a base, four parallel linkages each of which is coupled at its upper end to a tip end of an arm of each of the actuators through a kinematic element such as a universal joint, and a traveling plate whose four corners are coupled to lower ends of the parallel linkages through kinematic elements. By controlling the actuators, a main member of the traveling plate is displaced with four degrees of freedom, i.e., translated in all directions and rotated around a predetermined axis. Only axial forces are applied to rods constituting the parallel linkages. Thus, the traveling plate can be positioned at a high speed and with high rigidity as well as high precision.
Document type :
Patents
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00269837
Contributor : Christine Carvalho de Matos <>
Submitted on : Thursday, April 3, 2008 - 8:23:02 AM
Last modification on : Thursday, December 6, 2018 - 3:06:02 PM

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  • HAL Id : lirmm-00269837, version 1

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François Pierrot, Olivier Company, Tetsuro Shibukawa, Koji Morita. Four-Degree-of-Freedom Parallel Robot. United States, Patent n° : US6516681 B1. 2003. ⟨lirmm-00269837⟩

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