TY - GEN
T1 - Very fast schoenflies motion generator
AU - Nabat, Vincent
AU - De La Rodriguez, María O.
AU - Company, Olivier
AU - Pierrot, François
AU - Dauchez, Pierre
PY - 2005
Y1 - 2005
N2 - This paper introduces a four-degree-of-freedom parallel manipulator producing Schonflies motions (three translations and one rotation). 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 I4 robots architectures: it keeps the advantages of these existing robots, while overcoming their drawbacks. In addition, this paper shows the dynamic modelling of the architecture that will be useful for a future dynamic control. Finally, experimental results are shown, and prove that the robot is able to reach high accelerations (13 G) and obtain a cycle time of 0.28 s.
AB - This paper introduces a four-degree-of-freedom parallel manipulator producing Schonflies motions (three translations and one rotation). 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 I4 robots architectures: it keeps the advantages of these existing robots, while overcoming their drawbacks. In addition, this paper shows the dynamic modelling of the architecture that will be useful for a future dynamic control. Finally, experimental results are shown, and prove that the robot is able to reach high accelerations (13 G) and obtain a cycle time of 0.28 s.
KW - Articulated traveling plate
KW - PKM
KW - Pick-and-place
KW - Schoenflies motion
UR - https://www.scopus.com/pages/publications/33847334773
U2 - 10.1109/ICIT.2005.1600665
DO - 10.1109/ICIT.2005.1600665
M3 - Conference contribution
AN - SCOPUS:33847334773
SN - 0780394844
SN - 9780780394841
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 365
EP - 370
BT - 2005 IEEE International Conference on Industrial Technology, ICIT 2005
T2 - 2005 IEEE International Conference on Industrial Technology, ICIT 2005
Y2 - 14 December 2005 through 17 December 2005
ER -