A Novel 4 DoFs (3T-1R) Parallel Manipulator with Actuation Redundancy - Workspace Analysis - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2014

A Novel 4 DoFs (3T-1R) Parallel Manipulator with Actuation Redundancy - Workspace Analysis

Samah Aref Shayya
  • Function : Correspondent author
  • PersonId : 1054154

Connectez-vous pour contacter l'auteur
Sébastien Krut
Cédric Baradat
  • Function : Author
  • PersonId : 914449

Abstract

This paper presents a novel 4 dofs (3T-1R) parallel actuatedly redundant mechanism and its workspace analysis, based on a performance index involving velocity and force capabilities. The robot is capable of performing a half-turn about the z axis. Moreover, having all of its prismatic actuators along one direction; the x motion is independent- only limited by the stroke of the prismatic actuators. The mechanism is characterized by elevated dynamical capabilities having its actuators at base.
Fichier principal
Vignette du fichier
SamahSHAYYA-A_Novel_4_DoFs_3T-1R_Parallel_Manipulator_with_Actuation_Redundancy_Workspace_Analysis_v3.pdf (507 Ko) Télécharger le fichier
Origin Files produced by the author(s)
Loading...

Dates and versions

lirmm-00906202 , version 1 (19-11-2013)

Identifiers

Cite

Samah Aref Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot. A Novel 4 DoFs (3T-1R) Parallel Manipulator with Actuation Redundancy - Workspace Analysis. MeTrApp: Mechanisms, Transmissions and Applications, Oct 2013, Bilbao, Spain. pp.317-324, ⟨10.1007/978-94-007-7485-8_39⟩. ⟨lirmm-00906202⟩
137 View
488 Download

Altmetric

Share

Gmail Mastodon Facebook X LinkedIn More