@inproceedings{5afa705d7ea64617bca09cf39c93463c,
title = "Par4: Very high speed parallel robot for pick-and-place",
abstract = "This paper introduces a four-degree-of-freedom parallel manipulator dedicated to pick-and-place. It has been developed with the goal of reaching very high speed. This paper shows that its architecture is particularly well adapted to high dynamics. Indeed, it is an evolution of Delta, H4 and 14 robots architectures: it keeps the advantages of these existing robots, while overcoming their drawbacks. In addition, an optimization method based on velocity using Adept Motion has been developed and applied to this high speed parallel robot. All these considerations led to experimentations that proved we can reach high accelerations (13 G) and obtain a cycle time of 0.28 s.",
keywords = "Articulated traveling plate, PKM, Pick-and-place, Schonflies motion",
author = "Vincent Nabat and \{De La O Rodriguez\}, Maria and Olivier Company and Sebastien Krut and Francois Pierrot",
year = "2005",
doi = "10.1109/IROS.2005.1545143",
language = "English",
isbn = "0780389123",
series = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
publisher = "IEEE Computer Society",
pages = "553--558",
booktitle = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
address = "United States",
}