On the design of mobile parallel robots for large workspace applications

Hai Yang; Sébastien Krut; François Pierrot; Cédric Baradat

doi:10.1115/DETC2011-48101

On the design of mobile parallel robots for large workspace applications

Hai Yang^*
, Sébastien Krut
, François Pierrot
, Cédric Baradat

^*Corresponding author for this work

Université de Montpellier

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

10 Citations (Scopus)

Abstract

In this paper, several considerations for designing industry oriented robots which combine the mobility of legged robots and advantages of parallel mechanisms are outlined. For designing such optimized robots in terms of simplicity and performance, a topology study is done based on the mobility analysis. Applying some design constraints, potential topologies of such robots are identified. One architecture is chosen for designing a tripod robot. Both inverse and forward kinematic problems of this robot are derived in order to simulate its gait motion. The analysis and simulations show that: integrating some clamping devices and some lockable passive joints, six actuators are enough to build a legged manipulator which can not only perform 6-axis machining but can also walk on a curved supporting media.

Original language	English
Title of host publication	ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
Pages	767-776
Number of pages	10
Edition	PARTS A AND B
DOIs	https://doi.org/10.1115/DETC2011-48101
Publication status	Published - 2011
Event	ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 - Washington, DC, United States Duration: 28 Aug 2011 → 31 Aug 2011

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Number	PARTS A AND B
Volume	6

Conference

Conference	ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
Country/Territory	United States
City	Washington, DC
Period	28/08/11 → 31/08/11

UN SDGs

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

SDG 9 Industry, Innovation, and Infrastructure

Access to Document

10.1115/DETC2011-48101

Cite this

Yang, H., Krut, S., Pierrot, F., & Baradat, C. (2011). On the design of mobile parallel robots for large workspace applications. In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 (PARTS A AND B ed., pp. 767-776). (Proceedings of the ASME Design Engineering Technical Conference; Vol. 6, No. PARTS A AND B). https://doi.org/10.1115/DETC2011-48101

Yang, Hai ; Krut, Sébastien ; Pierrot, François et al. / On the design of mobile parallel robots for large workspace applications. ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011. PARTS A AND B. ed. 2011. pp. 767-776 (Proceedings of the ASME Design Engineering Technical Conference; PARTS A AND B).

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title = "On the design of mobile parallel robots for large workspace applications",

abstract = "In this paper, several considerations for designing industry oriented robots which combine the mobility of legged robots and advantages of parallel mechanisms are outlined. For designing such optimized robots in terms of simplicity and performance, a topology study is done based on the mobility analysis. Applying some design constraints, potential topologies of such robots are identified. One architecture is chosen for designing a tripod robot. Both inverse and forward kinematic problems of this robot are derived in order to simulate its gait motion. The analysis and simulations show that: integrating some clamping devices and some lockable passive joints, six actuators are enough to build a legged manipulator which can not only perform 6-axis machining but can also walk on a curved supporting media.",

author = "Hai Yang and S{\'e}bastien Krut and Fran{\c c}ois Pierrot and C{\'e}dric Baradat",

year = "2011",

doi = "10.1115/DETC2011-48101",

language = "English",

isbn = "9780791854839",

series = "Proceedings of the ASME Design Engineering Technical Conference",

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booktitle = "ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011",

edition = "PARTS A AND B",

note = "ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 ; Conference date: 28-08-2011 Through 31-08-2011",

}

Yang, H, Krut, S, Pierrot, F & Baradat, C 2011, On the design of mobile parallel robots for large workspace applications. in ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011. PARTS A AND B edn, Proceedings of the ASME Design Engineering Technical Conference, no. PARTS A AND B, vol. 6, pp. 767-776, ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011, Washington, DC, United States, 28/08/11. https://doi.org/10.1115/DETC2011-48101

On the design of mobile parallel robots for large workspace applications. / Yang, Hai; Krut, Sébastien; Pierrot, François et al.
ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011. PARTS A AND B. ed. 2011. p. 767-776 (Proceedings of the ASME Design Engineering Technical Conference; Vol. 6, No. PARTS A AND B).

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

TY - GEN

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AU - Yang, Hai

AU - Krut, Sébastien

AU - Pierrot, François

AU - Baradat, Cédric

PY - 2011

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N2 - In this paper, several considerations for designing industry oriented robots which combine the mobility of legged robots and advantages of parallel mechanisms are outlined. For designing such optimized robots in terms of simplicity and performance, a topology study is done based on the mobility analysis. Applying some design constraints, potential topologies of such robots are identified. One architecture is chosen for designing a tripod robot. Both inverse and forward kinematic problems of this robot are derived in order to simulate its gait motion. The analysis and simulations show that: integrating some clamping devices and some lockable passive joints, six actuators are enough to build a legged manipulator which can not only perform 6-axis machining but can also walk on a curved supporting media.

AB - In this paper, several considerations for designing industry oriented robots which combine the mobility of legged robots and advantages of parallel mechanisms are outlined. For designing such optimized robots in terms of simplicity and performance, a topology study is done based on the mobility analysis. Applying some design constraints, potential topologies of such robots are identified. One architecture is chosen for designing a tripod robot. Both inverse and forward kinematic problems of this robot are derived in order to simulate its gait motion. The analysis and simulations show that: integrating some clamping devices and some lockable passive joints, six actuators are enough to build a legged manipulator which can not only perform 6-axis machining but can also walk on a curved supporting media.

UR - https://www.scopus.com/pages/publications/84863599257

U2 - 10.1115/DETC2011-48101

DO - 10.1115/DETC2011-48101

M3 - Conference contribution

AN - SCOPUS:84863599257

SN - 9780791854839

T3 - Proceedings of the ASME Design Engineering Technical Conference

SP - 767

EP - 776

BT - ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011

T2 - ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011

Y2 - 28 August 2011 through 31 August 2011

ER -

Yang H, Krut S, Pierrot F, Baradat C. On the design of mobile parallel robots for large workspace applications. In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011. PARTS A AND B ed. 2011. p. 767-776. (Proceedings of the ASME Design Engineering Technical Conference; PARTS A AND B). doi: 10.1115/DETC2011-48101

On the design of mobile parallel robots for large workspace applications

Abstract

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Conference

UN SDGs

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