A Novel (3T-1R) Redundant Parallel Mechanism with Large Operational Workspace and Rotational Capability

Abstract : This paper presents a novel 4 dofs (3T-1R) parallel redundant mechanism, with its complete study regarding inverse and direct geometric models (IGM and DGM), as well as singularity and workspace analysis. The robot is capable of performing a half-turn about the z axis (a complete turn would be theoretically possible if it were not for possible unavoidable inter-collisions in the practical case), and having all of its prismatic actuators along one direction, enables it to have an independent x motion - only limited by the stroke of the prismatic actuators. The mechanism is characterized by elevated dynamical capabilities having its actuators at base. Moreover, the performance of the robot is evaluated considering isotropy in velocity and forces.
Document type :
Conference papers
Complete list of metadatas

Cited literature [13 references]  Display  Hide  Download

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00906223
Contributor : Samah Shayya <>
Submitted on : Tuesday, November 19, 2013 - 2:28:12 PM
Last modification on : Wednesday, October 23, 2019 - 3:08:46 PM
Long-term archiving on : Thursday, February 20, 2014 - 9:20:57 AM

File

samahshayya_4dofs_pkm_IROS2013...
Files produced by the author(s)

Identifiers

Collections

Citation

Samah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot. A Novel (3T-1R) Redundant Parallel Mechanism with Large Operational Workspace and Rotational Capability. IROS: Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. pp.436-443, ⟨10.1109/IROS.2013.6696388⟩. ⟨lirmm-00906223⟩

Share

Metrics

Record views

251

Files downloads

401