A high-speed parallel robot for scara motions

Sébastien Krut; Vincent Nabat; Olivier Company; François Pierrot

doi:10.1109/robot.2004.1308914

A high-speed parallel robot for scara motions

Sébastien Krut^*
, Vincent Nabat
, Olivier Company
, François Pierrot

^*Autor correspondiente de este trabajo

TECNALIA Research & Innovation

Université de Montpellier II
National Institute of Advanced Industrial Science and Technology

Producción científica: Contribución a una revista › Artículo de la conferencia › revisión exhaustiva

86 Citas (Scopus)

Resumen

This paper introduces a new 4 degree-of-freedom parallel robot. It presents its architecture inspired by FlexPicker, an ABB machine based on the Delta architecture, while overcoming its drawbacks. This paper exposes the way to get the geometrical models, and particularly the forward position relationship which can be obtained in a closed form. In a third part, a detailed study of the robot singularities is made by taking into account the not-so-classic internal singularities. Design conditions are obtained for isostatic and over-constrained cases. The robot optimization and its workspace are finally presented.

Idioma original	Inglés
Páginas (desde-hasta)	4109-4115
Número de páginas	7
Publicación	Proceedings - IEEE International Conference on Robotics and Automation
Volumen	2004
N.º	4
DOI	https://doi.org/10.1109/robot.2004.1308914
Estado	Publicada - 2004
Evento	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, Estados Unidos Duración: 26 abr 2004 → 1 may 2004

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title = "A high-speed parallel robot for scara motions",

abstract = "This paper introduces a new 4 degree-of-freedom parallel robot. It presents its architecture inspired by FlexPicker, an ABB machine based on the Delta architecture, while overcoming its drawbacks. This paper exposes the way to get the geometrical models, and particularly the forward position relationship which can be obtained in a closed form. In a third part, a detailed study of the robot singularities is made by taking into account the not-so-classic internal singularities. Design conditions are obtained for isostatic and over-constrained cases. The robot optimization and its workspace are finally presented.",

keywords = "Pick-and-place, PKM, Scara motions",

author = "S{\'e}bastien Krut and Vincent Nabat and Olivier Company and Fran{\c c}ois Pierrot",

year = "2004",

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language = "English",

volume = "2004",

pages = "4109--4115",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

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note = "Proceedings- 2004 IEEE International Conference on Robotics and Automation ; Conference date: 26-04-2004 Through 01-05-2004",

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TY - JOUR

T1 - A high-speed parallel robot for scara motions

AU - Krut, Sébastien

AU - Nabat, Vincent

AU - Company, Olivier

AU - Pierrot, François

PY - 2004

Y1 - 2004

N2 - This paper introduces a new 4 degree-of-freedom parallel robot. It presents its architecture inspired by FlexPicker, an ABB machine based on the Delta architecture, while overcoming its drawbacks. This paper exposes the way to get the geometrical models, and particularly the forward position relationship which can be obtained in a closed form. In a third part, a detailed study of the robot singularities is made by taking into account the not-so-classic internal singularities. Design conditions are obtained for isostatic and over-constrained cases. The robot optimization and its workspace are finally presented.

AB - This paper introduces a new 4 degree-of-freedom parallel robot. It presents its architecture inspired by FlexPicker, an ABB machine based on the Delta architecture, while overcoming its drawbacks. This paper exposes the way to get the geometrical models, and particularly the forward position relationship which can be obtained in a closed form. In a third part, a detailed study of the robot singularities is made by taking into account the not-so-classic internal singularities. Design conditions are obtained for isostatic and over-constrained cases. The robot optimization and its workspace are finally presented.

KW - Pick-and-place

KW - PKM

KW - Scara motions

UR - https://www.scopus.com/pages/publications/3042630049

U2 - 10.1109/robot.2004.1308914

DO - 10.1109/robot.2004.1308914

M3 - Conference article

AN - SCOPUS:3042630049

SN - 1050-4729

VL - 2004

SP - 4109

EP - 4115

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

IS - 4

T2 - Proceedings- 2004 IEEE International Conference on Robotics and Automation

Y2 - 26 April 2004 through 1 May 2004

ER -

A high-speed parallel robot for scara motions

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