A novel 4 DoFs (3T-1R) parallel manipulator with actuation redundancy – Workspace analysis

Samah Shayya; Sébastien Krut; Olivier Company; Cédric Baradat; François Pierrot

doi:10.1007/978-94-007-7485-8_39

A novel 4 DoFs (3T-1R) parallel manipulator with actuation redundancy – Workspace analysis

Samah Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot

Tecnalia Research & Innovation

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

5 Citations (Scopus)

Abstract

paper presents a novel 4 dofs (3T-1R¹) parallel actuatedly redundant mechanism and its workspace analysis, based on a performance index involving velocity and force capabilities. The robot is capable of performing a half-turn² about the z axis. Moreover, having all of its prismatic actuators along one direction; the x motion is independent- only limited by the stroke of the prismatic actuators. The mechanism is characterized by elevated dynamical capabilities having its actuators at base.

Original language	English
Title of host publication	New Advances in Mechanisms, Transmissions and Applications - 2nd Conference MeTrApp 2013, Proceedings
Editors	Victor Petuya, Charles Pinto, Victor Petuya, Erwin-Christian Lovasz, Erwin-Christian Lovasz, Charles Pinto
Publisher	Kluwer Academic Publishers
Pages	317-324
Number of pages	8
ISBN (Electronic)	9789400774841, 9789400774841
DOIs	https://doi.org/10.1007/978-94-007-7485-8_39
Publication status	Published - 2014

Publication series

Name	Mechanisms and Machine Science
Volume	17
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Keywords

4 dofs mechanism
Actuation redundancy
Large rotational capacity
Parallel mechanism
Velocity and force performance index

UN SDGs

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

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10.1007/978-94-007-7485-8_39

Cite this

Shayya, S., Krut, S., Company, O., Baradat, C., & Pierrot, F. (2014). A novel 4 DoFs (3T-1R) parallel manipulator with actuation redundancy – Workspace analysis. In V. Petuya, C. Pinto, V. Petuya, E.-C. Lovasz, E.-C. Lovasz, & C. Pinto (Eds.), New Advances in Mechanisms, Transmissions and Applications - 2nd Conference MeTrApp 2013, Proceedings (pp. 317-324). (Mechanisms and Machine Science; Vol. 17). Kluwer Academic Publishers. https://doi.org/10.1007/978-94-007-7485-8_39

Shayya, Samah ; Krut, Sébastien ; Company, Olivier et al. / A novel 4 DoFs (3T-1R) parallel manipulator with actuation redundancy – Workspace analysis. New Advances in Mechanisms, Transmissions and Applications - 2nd Conference MeTrApp 2013, Proceedings. editor / Victor Petuya ; Charles Pinto ; Victor Petuya ; Erwin-Christian Lovasz ; Erwin-Christian Lovasz ; Charles Pinto. Kluwer Academic Publishers, 2014. pp. 317-324 (Mechanisms and Machine Science).

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Shayya, S, Krut, S, Company, O, Baradat, C & Pierrot, F 2014, A novel 4 DoFs (3T-1R) parallel manipulator with actuation redundancy – Workspace analysis. in V Petuya, C Pinto, V Petuya, E-C Lovasz, E-C Lovasz & C Pinto (eds), New Advances in Mechanisms, Transmissions and Applications - 2nd Conference MeTrApp 2013, Proceedings. Mechanisms and Machine Science, vol. 17, Kluwer Academic Publishers, pp. 317-324. https://doi.org/10.1007/978-94-007-7485-8_39

A novel 4 DoFs (3T-1R) parallel manipulator with actuation redundancy – Workspace analysis. / Shayya, Samah; Krut, Sébastien; Company, Olivier et al.
New Advances in Mechanisms, Transmissions and Applications - 2nd Conference MeTrApp 2013, Proceedings. ed. / Victor Petuya; Charles Pinto; Victor Petuya; Erwin-Christian Lovasz; Erwin-Christian Lovasz; Charles Pinto. Kluwer Academic Publishers, 2014. p. 317-324 (Mechanisms and Machine Science; Vol. 17).

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

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AU - Shayya, Samah

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AU - Company, Olivier

AU - Baradat, Cédric

AU - Pierrot, François

N1 - Publisher Copyright: © Springer Science+Business Media Dordrecht 2014.

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AB - paper presents a novel 4 dofs (3T-1R1) parallel actuatedly redundant mechanism and its workspace analysis, based on a performance index involving velocity and force capabilities. The robot is capable of performing a half-turn2 about the z axis. Moreover, having all of its prismatic actuators along one direction; the x motion is independent- only limited by the stroke of the prismatic actuators. The mechanism is characterized by elevated dynamical capabilities having its actuators at base.

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KW - Actuation redundancy

KW - Large rotational capacity

KW - Parallel mechanism

KW - Velocity and force performance index

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Shayya S, Krut S, Company O, Baradat C, Pierrot F. A novel 4 DoFs (3T-1R) parallel manipulator with actuation redundancy – Workspace analysis. In Petuya V, Pinto C, Petuya V, Lovasz EC, Lovasz EC, Pinto C, editors, New Advances in Mechanisms, Transmissions and Applications - 2nd Conference MeTrApp 2013, Proceedings. Kluwer Academic Publishers. 2014. p. 317-324. (Mechanisms and Machine Science). doi: 10.1007/978-94-007-7485-8_39

A novel 4 DoFs (3T-1R) parallel manipulator with actuation redundancy – Workspace analysis

Abstract

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Keywords

UN SDGs

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