A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability

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

doi:10.1109/ICRA.2014.6907699

A novel (3T-2R) 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

8 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5712-5719
Number of pages	8
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907699
Publication status	Published - 22 Sept 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	31/05/14 → 7/06/14

UN SDGs

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

SDG 3 Good Health and Well-being
SDG 9 Industry, Innovation, and Infrastructure

Access to Document

10.1109/ICRA.2014.6907699

Cite this

Shayya, S., Krut, S., Company, O., Baradat, C., & Pierrot, F. (2014). A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 5712-5719). Article 6907699 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907699

Shayya, Samah ; Krut, Sebastien ; Company, Olivier et al. / A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability. Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 5712-5719 (Proceedings - IEEE International Conference on Robotics and Automation).

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title = "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.",

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

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Shayya, S, Krut, S, Company, O, Baradat, C & Pierrot, F 2014, A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability. in Proceedings - IEEE International Conference on Robotics and Automation., 6907699, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 5712-5719, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/14. https://doi.org/10.1109/ICRA.2014.6907699

A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability. / Shayya, Samah; Krut, Sebastien; Company, Olivier et al.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 5712-5719 6907699 (Proceedings - IEEE International Conference on Robotics and Automation).

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

TY - GEN

T1 - A novel (3T-2R) 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 - 2014/9/22

Y1 - 2014/9/22

N2 - 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.

AB - 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.

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M3 - Conference contribution

AN - SCOPUS:84929225020

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 5712

EP - 5719

BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Shayya S, Krut S, Company O, Baradat C, Pierrot F. A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 5712-5719. 6907699. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6907699

A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability

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