A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier
Conference Papers Year : 2014

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.
Fichier principal
Vignette du fichier
2014_shayya_icra.pdf (330.08 Ko) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

lirmm-01275355 , version 1 (01-12-2018)

Identifiers

Cite

Samah Aref 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. pp.5712-5719, ⟨10.1109/ICRA.2014.6907699⟩. ⟨lirmm-01275355⟩
128 View
197 Download

Altmetric

Share

More