A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability

Abstract : The paper presents a novel 5 dofs (3T-2R) parallel mechanism. The mechanism is characterized by large singularity-free workspace and particularly large rotational capability which makes it suitable for 5 face-machining and similar applications. Having all its prismatic actuators along x direction, the x-motion is independent from other dofs-only limited by prismatic actuators' strokes-constituting another major advantageous feature. Besides, an analytical direct geometric model can be easily established which is a rare feature in parallel robots. The paper introduces the novel mechanism with its inverse and direct geometric models as well as its kinematic models (forward and inverse Jacobians). Also, it discusses its singularity analysis and presents sample workspace plots evaluated based on isotropic performance regarding velocity and static force.
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp.5712-5719, 2014, 〈10.1109/ICRA.2014.6907699〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01275355
Contributeur : Olivier Company <>
Soumis le : mercredi 17 février 2016 - 12:39:00
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 (3T-2R) parallel mechanism with large operational workspace and rotational capability. ICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp.5712-5719, 2014, 〈10.1109/ICRA.2014.6907699〉. 〈lirmm-01275355〉

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