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

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

20 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	IROS 2013
Subtítulo de la publicación alojada	New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Páginas	436-443
Número de páginas	8
DOI	https://doi.org/10.1109/IROS.2013.6696388
Estado	Publicada - 2013
Evento	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japón Duración: 3 nov 2013 → 8 nov 2013

Serie de la publicación

Nombre	IEEE International Conference on Intelligent Robots and Systems
ISSN (versión impresa)	2153-0858
ISSN (versión digital)	2153-0866

Conferencia

Conferencia	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
País/Territorio	Japón
Ciudad	Tokyo
Período	3/11/13 → 8/11/13

ODS de las Naciones Unidas

Este resultado contribuye a los siguientes Objetivos de Desarrollo Sostenible

ODS 3: Salud y bienestar

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10.1109/IROS.2013.6696388

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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. En IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 436-443). Artículo 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. En 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, Japón, 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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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. En 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

Resumen

Serie de la publicación

Conferencia

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