A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability

Samah Shayya; Sebastien Krut; Olivier Company; Cedric Baradat; Francois Pierrot

doi:10.1109/IROS.2013.6696388

A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability

Samah Shayya
, Sebastien Krut
, Olivier Company
, Cedric Baradat
, Francois Pierrot

TECNALIA Research & Innovation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

20 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	IROS 2013
Subtitle of host publication	New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages	436-443
Number of pages	8
DOIs	https://doi.org/10.1109/IROS.2013.6696388
Publication status	Published - 2013
Event	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan Duration: 3 Nov 2013 → 8 Nov 2013

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Country/Territory	Japan
City	Tokyo
Period	3/11/13 → 8/11/13

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Access to Document

10.1109/IROS.2013.6696388

Cite this

Shayya, S., Krut, S., Company, O., Baradat, C., & Pierrot, F. (2013). A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 436-443). Article 6696388 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696388

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title = "A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability",

abstract = "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.",

author = "Samah Shayya and Sebastien Krut and Olivier Company and Cedric Baradat and Francois Pierrot",

year = "2013",

doi = "10.1109/IROS.2013.6696388",

language = "English",

isbn = "9781467363587",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "436--443",

booktitle = "IROS 2013",

note = "2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 ; Conference date: 03-11-2013 Through 08-11-2013",

}

Shayya, S, Krut, S, Company, O, Baradat, C & Pierrot, F 2013, A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability. in IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 6696388, IEEE International Conference on Intelligent Robots and Systems, pp. 436-443, 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, Japan, 3/11/13. https://doi.org/10.1109/IROS.2013.6696388

A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability. / Shayya, Samah; Krut, Sebastien; Company, Olivier et al.
IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. p. 436-443 6696388 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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.

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Shayya S, Krut S, Company O, Baradat C, Pierrot F. A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. p. 436-443. 6696388. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2013.6696388

A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability

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