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

Samah Shayya 1, * Sébastien Krut 2 Olivier Company 2 Cédric Baradat 1 François Pierrot 2
* Auteur correspondant
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
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Communication dans un congrès
MeTrApp'2013: 2nd Conference on Mechanisms, Transmissions and Applications, Oct 2013, Bilbao, Spain. 17 (Mechanisms and Machine Science), pp.317-324, 2014, New Advances in Mechanisms, Transmissions and Applications. 〈http://www.ehu.es/compmech/metrapp-2013/〉. 〈10.1007/978-94-007-7485-8_39〉
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Dernière modification le : mardi 17 juillet 2018 - 15:54:03
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Samah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot. A Novel 4 DoFs (3T-1R) Parallel Manipulator with Actuation Redundancy - Workspace Analysis. MeTrApp'2013: 2nd Conference on Mechanisms, Transmissions and Applications, Oct 2013, Bilbao, Spain. 17 (Mechanisms and Machine Science), pp.317-324, 2014, New Advances in Mechanisms, Transmissions and Applications. 〈http://www.ehu.es/compmech/metrapp-2013/〉. 〈10.1007/978-94-007-7485-8_39〉. 〈lirmm-00906202〉

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