Simplified dynamic modeling and improvement of a four degree of freedom pick-and-place manipulator with articulated moving platform

Abstract : This article deals with high speed robots devoted to pick-and-place applications with high rate of output. After mentioning the families of robot architectures that meet the specifications of pick-and-place, parallel kinematics architectures with articulated moving platform is introduced and described. Indeed, this concept seems very promizing for this kind of application. After prensenting the reasons to select the PAR4 architecture, it is fully described and modeled: position relationships, velocity relationships, simplified dynamic model. Some experimental results from extensive testing are exhibited and shows a high performance potentiality. By analysing experimental results, an improvement is proposed to have a better dynamic balance between the actuators. The improved version of the robot is the one chosen for the industrial development of the QUATTRO parallel robot.
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Journal articles
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00304441
Contributor : Olivier Company <>
Submitted on : Wednesday, July 23, 2008 - 10:14:37 AM
Last modification on : Monday, December 17, 2018 - 10:44:01 AM

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Olivier Company, François Pierrot, Sébastien Krut, Vincent Nabat. Simplified dynamic modeling and improvement of a four degree of freedom pick-and-place manipulator with articulated moving platform. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, SAGE Publications, 2009, 223 (I1), pp.13-27. ⟨10.1243/09596518JSCE616⟩. ⟨lirmm-00304441⟩

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