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

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

Samah Aref Shayya
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Sébastien Krut
Cédric Baradat
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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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Dates and versions

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

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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⟩
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