Towards 100G with PKM. Is Actuation Redundancy a Good Solution for Pick-and-Place?

David Corbel 1 Marc Gouttefarde 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 analyzes the possible contribution of actuation redundancy in obtaining very high acceleration with Parallel Kinematic Machines (PKM). This study is based on redundant and non-redundant Delta/Par4-like robots (frequently used for pick-and-place applications). The dynamic model, valid for both redundant and non-redundant robots, is used to analyze the traveling plate acceleration capabilities: (i) at zero speed and in any directions, (ii) at zero speed in the "best" direction. The results show that actuation redundancy allows to homogenize the dynamic capabilities throughout the workspace and to increase the traveling plate acceleration capability. Finally, the design of a redundant Delta/Par4-like robot optimized for typical pick-and-place trajectories is presented.
Keywords : Parallel robots actuation redundancy
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, May 2010, Anchorage, Alaska, United States. IEEE, pp.4675-4682, 2010, 〈http://icra2010.grasp.upenn.edu/〉. 〈10.1109/ROBOT.2010.5509921〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00486231
Contributeur : Marc Gouttefarde <>
Soumis le : mardi 25 mai 2010 - 13:46:04
Dernière modification le : mardi 17 juillet 2018 - 15:54:03

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DEXTER | LIRMM | TDS-MACS | MIPS | UNIV-MONTPELLIER

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David Corbel, Marc Gouttefarde, Olivier Company, François Pierrot. Towards 100G with PKM. Is Actuation Redundancy a Good Solution for Pick-and-Place?. ICRA: International Conference on Robotics and Automation, May 2010, Anchorage, Alaska, United States. IEEE, pp.4675-4682, 2010, 〈http://icra2010.grasp.upenn.edu/〉. 〈10.1109/ROBOT.2010.5509921〉. 〈lirmm-00486231〉

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