Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator

Samah Shayya 1 Sébastien Krut 2 Olivier Company 2 Cédric Baradat 1 François Pierrot 2
1 TECNALIA France
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : The chapter introduces the dynamic analysis of an actuatedly redundant parallel manipulator, called ARROW V1, with 4 Degrees of Freedom (DoF) providing three translations and one rotation (3T-1R). The dynamic measure used is of solid physical significance and applicable to all types of robots: the isotropic linear acceleration.
Keywords : Parallel mechanism Actuation redundancy 4 DoFs robot 3T-1R Dynamic measure
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01878979
Contributor : Isabelle Gouat <>
Submitted on : Friday, September 21, 2018 - 4:39:26 PM
Last modification on : Monday, December 17, 2018 - 10:44:01 AM

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  • HAL Id : lirmm-01878979, version 1

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LIRMM | TDS-MACS | DEXTER | MIPS | UNIV-MONTPELLIER

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Samah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot. Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator. ARK: Advances in Robots Kinematic, Jun 2014, Ljubljana, Slovenia. pp.545-553. ⟨lirmm-01878979⟩

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