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

Producción científica: Capítulo del libro/informe/acta de congreso › Capítulo › revisión exhaustiva

5 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	New Advances in Mechanisms, Transmissions and Applications - 2nd Conference MeTrApp 2013, Proceedings
Editores	Victor Petuya, Charles Pinto, Victor Petuya, Erwin-Christian Lovasz, Erwin-Christian Lovasz, Charles Pinto
Editorial	Kluwer Academic Publishers
Páginas	317-324
Número de páginas	8
ISBN (versión digital)	9789400774841, 9789400774841
DOI	https://doi.org/10.1007/978-94-007-7485-8_39
Estado	Publicada - 2014

Serie de la publicación

Nombre	Mechanisms and Machine Science
Volumen	17
ISSN (versión impresa)	2211-0984
ISSN (versión digital)	2211-0992

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

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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. En 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. En 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Capítulo › revisión exhaustiva

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AU - Shayya, Samah

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AU - Pierrot, François

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

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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. En Petuya V, Pinto C, Petuya V, Lovasz EC, Lovasz EC, Pinto C, editores, 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

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