TY - GEN
T1 - Heli4
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
AU - Krut, Sébastien
AU - Company, Olivier
AU - Nabat, Vincent
AU - Pierrot, François
PY - 2006
Y1 - 2006
N2 - This paper introduces Heli4 a new 4 degree-of-freedom parallel robot. It is inspired by the Delta architecture, but was designed to overcome its limitations, using an articulated traveling plate. Unlike most articulated traveling plates, Heli4's traveling plate is very compact. Among other positive aspects is its symmetrical design. This paper gives 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.
AB - This paper introduces Heli4 a new 4 degree-of-freedom parallel robot. It is inspired by the Delta architecture, but was designed to overcome its limitations, using an articulated traveling plate. Unlike most articulated traveling plates, Heli4's traveling plate is very compact. Among other positive aspects is its symmetrical design. This paper gives 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.
KW - Articulated traveling plate
KW - Closed-form geometrical models
KW - Internal singularities
KW - PKM (Parallel Kinematic Machines)
KW - Scara motions
UR - https://www.scopus.com/pages/publications/34250630864
U2 - 10.1109/IROS.2006.282120
DO - 10.1109/IROS.2006.282120
M3 - Conference contribution
AN - SCOPUS:34250630864
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1656
EP - 1661
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -