Above 40g Acceleration for Pick-and-Place with a New 2-Dof PKM

François Pierrot 1 Cédric Baradat 2 Vincent Nabat 2 Olivier Company 1 Sébastien Krut 1 Marc Gouttefarde 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 a new two-degree-of-freedom parallel manipulator producing two translations in the vertical plane. One drawback of existing robots built to realize those dof is their lack of rigidity along the transversal axis, another one being their limited ability to provide very high acceleration. Indeed, these architectures cannot be lightweight and stiff at the same time. The proposed architecture is a spatial mechanism which guarantees a good stiffness along the transversal axis. This parallel architecture is composed by two actuated kinematic chains, and two passive chains built in the transversal plane. The key feature of this robot comes from the passive chains which are coupled for creating a kinematic constraint: the platform stays in one plane. A stiffness analysis shows that the robot can be lighter and stiffer than a classical 2 dof mechanism. A prototype of this robot is presented and preliminary tests show that accelerations above 40 g can be achieved while keeping a low tracking error.
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. IEEE, pp.1794-1800, 2009, 〈10.1109/ROBOT.2009.5152193〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00399019
Contributeur : Martine Peridier <>
Soumis le : jeudi 25 juin 2009 - 14:38:34
Dernière modification le : jeudi 11 janvier 2018 - 06:26:07

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François Pierrot, Cédric Baradat, Vincent Nabat, Olivier Company, Sébastien Krut, et al.. Above 40g Acceleration for Pick-and-Place with a New 2-Dof PKM. ICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. IEEE, pp.1794-1800, 2009, 〈10.1109/ROBOT.2009.5152193〉. 〈lirmm-00399019〉

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