TY - GEN
T1 - A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability
AU - Shayya, Samah
AU - Krut, Sebastien
AU - Company, Olivier
AU - Baradat, Cedric
AU - Pierrot, Francois
PY - 2013
Y1 - 2013
N2 - This paper presents a novel 4 dofs (3T-1R(1)) 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.
AB - This paper presents a novel 4 dofs (3T-1R(1)) 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.
UR - http://www.scopus.com/inward/record.url?scp=84893753890&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696388
DO - 10.1109/IROS.2013.6696388
M3 - Conference contribution
AN - SCOPUS:84893753890
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 436
EP - 443
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -
