A high-speed parallel robot for scara motions

Sébastien Krut; Vincent Nabat; Olivier Company; François Pierrot

doi:10.1109/robot.2004.1308914

A high-speed parallel robot for scara motions

Sébastien Krut, Vincent Nabat, Olivier Company, François Pierrot

Tecnalia Research & Innovation

Research output: Contribution to journal › Conference article › peer-review

78 Citations (Scopus)

Abstract

This paper introduces a new 4 degree-of-freedom parallel robot. It presents its architecture inspired by FlexPicker, an ABB machine based on the Delta architecture, while overcoming its drawbacks. This paper exposes the way to get the geometrical models, and particularly the forward position relationship which can be obtained in a closed form. In a third part, a detailed study of the robot singularities is made by taking into account the not-so-classic internal singularities. Design conditions are obtained for isostatic and over-constrained cases. The robot optimization and its workspace are finally presented.

Original language	English
Pages (from-to)	4109-4115
Number of pages	7
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2004
Issue number	4
DOIs	https://doi.org/10.1109/robot.2004.1308914
Publication status	Published - 2004
Event	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: 26 Apr 2004 → 1 May 2004

Keywords

Pick-and-place
PKM
Scara motions

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10.1109/robot.2004.1308914

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abstract = "This paper introduces a new 4 degree-of-freedom parallel robot. It presents its architecture inspired by FlexPicker, an ABB machine based on the Delta architecture, while overcoming its drawbacks. This paper exposes the way to get the geometrical models, and particularly the forward position relationship which can be obtained in a closed form. In a third part, a detailed study of the robot singularities is made by taking into account the not-so-classic internal singularities. Design conditions are obtained for isostatic and over-constrained cases. The robot optimization and its workspace are finally presented.",

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AU - Krut, Sébastien

AU - Nabat, Vincent

AU - Company, Olivier

AU - Pierrot, François

PY - 2004

Y1 - 2004

N2 - This paper introduces a new 4 degree-of-freedom parallel robot. It presents its architecture inspired by FlexPicker, an ABB machine based on the Delta architecture, while overcoming its drawbacks. This paper exposes the way to get the geometrical models, and particularly the forward position relationship which can be obtained in a closed form. In a third part, a detailed study of the robot singularities is made by taking into account the not-so-classic internal singularities. Design conditions are obtained for isostatic and over-constrained cases. The robot optimization and its workspace are finally presented.

AB - This paper introduces a new 4 degree-of-freedom parallel robot. It presents its architecture inspired by FlexPicker, an ABB machine based on the Delta architecture, while overcoming its drawbacks. This paper exposes the way to get the geometrical models, and particularly the forward position relationship which can be obtained in a closed form. In a third part, a detailed study of the robot singularities is made by taking into account the not-so-classic internal singularities. Design conditions are obtained for isostatic and over-constrained cases. The robot optimization and its workspace are finally presented.

KW - Pick-and-place

KW - PKM

KW - Scara motions

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U2 - 10.1109/robot.2004.1308914

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M3 - Conference article

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EP - 4115

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

IS - 4

T2 - Proceedings- 2004 IEEE International Conference on Robotics and Automation

Y2 - 26 April 2004 through 1 May 2004

ER -

A high-speed parallel robot for scara motions

Abstract

Keywords

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