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

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

8 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	Proceedings - IEEE International Conference on Robotics and Automation
Editorial	Institute of Electrical and Electronics Engineers Inc.
Páginas	5712-5719
Número de páginas	8
ISBN (versión digital)	9781479936854, 9781479936854
DOI	https://doi.org/10.1109/ICRA.2014.6907699
Estado	Publicada - 22 sept 2014
Evento	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duración: 31 may 2014 → 7 jun 2014

Serie de la publicación

Nombre	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (versión impresa)	1050-4729

Conferencia

Conferencia	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
País/Territorio	China
Ciudad	Hong Kong
Período	31/05/14 → 7/06/14

ODS de las Naciones Unidas

Este resultado contribuye a los siguientes Objetivos de Desarrollo Sostenible

ODS 3: Salud y bienestar
ODS 9: Industria, innovación e infraestructura

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10.1109/ICRA.2014.6907699

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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. En Proceedings - IEEE International Conference on Robotics and Automation (pp. 5712-5719). Artículo 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.",

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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. En 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).

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

TY - GEN

T1 - A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability

AU - Shayya, Samah

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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

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Shayya S, Krut S, Company O, Baradat C, Pierrot F. A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability. En 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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