Browsing by Author "Shayya, Samah"
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Item Dimensional synthesis of 4 DoFs (3T-1R) actuatedly redundant parallel manipulator based on dual criteria: Dynamics and precision(Institute of Electrical and Electronics Engineers Inc., 2014-10-31) Shayya, Samah; Krut, Sebastien; Company, Olivier; Baradat, Cedric; Pierrot, Francois; Tecnalia Research & InnovationThis paper presents the dimensional synthesis of a 4 dofs (3T-1R) actuatedly redundant parallel manipulator (called ARROW V1) based on dual criteria related to rapidity and precision. The dynamical (rapidity) criterion is the worst isotropic linear acceleration starting from rest, and the precision related criterion is the worst translational resolution amplification factor. This latter amplification factor happens to be equal to the theoretical translational repeatability and accuracy amplification factors as well. Also, other kinetostatic and dynamic performances have been evaluated for the synthesized set of geometric parameters as to validate global performances. The results are quite interesting showing a highly performant parallel kinematic machine (PKM).Item A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability(2013) Shayya, Samah; Krut, Sebastien; Company, Olivier; Baradat, Cedric; Pierrot, Francois; Tecnalia Research & InnovationThis paper presents a novel 4 dofs (3T-1R(1)) parallel redundant mechanism, with its complete study regarding inverse and direct geometric models (IGM and DGM), as well as singularity and workspace analysis. The robot is capable of performing a half-turn about the z axis (a complete turn would be theoretically possible if it were not for possible unavoidable inter-collisions in the practical case), and having all of its prismatic actuators along one direction, enables it to have an independent x motion - only limited by the stroke of the prismatic actuators. The mechanism is characterized by elevated dynamical capabilities having its actuators at base. Moreover, the performance of the robot is evaluated considering isotropy in velocity and forces.Item A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability(Institute of Electrical and Electronics Engineers Inc., 2014-09-22) Shayya, Samah; Krut, Sebastien; Company, Olivier; Baradat, Cedric; Pierrot, Francois; Tecnalia Research & InnovationThe 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.Item A novel 4 DoFs (3T-1R) parallel manipulator with actuation redundancy – Workspace analysis(Kluwer Academic Publishers, 2014) Shayya, Samah; Krut, Sébastien; Company, Olivier; Baradat, Cédric; Pierrot, François; Petuya, Victor; Pinto, Charles; Petuya, Victor; Lovasz, Erwin-Christian; Lovasz, Erwin-Christian; Pinto, Charles; Tecnalia Research & Innovationpaper 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.Item On the performance evaluation and analysis of general robots with mixed dofs(Institute of Electrical and Electronics Engineers Inc., 2014-10-31) Shayya, Samah; Krut, Sébastien; Company, Olivier; Baradat, Cédric; Pierrot, François; Tecnalia Research & InnovationThis paper deals with the kinetostatic performance evaluation regarding translational and rotational motions of general robots with mixed operational degrees of freedom (dofs). Also, robots with different types of actuators can be analyzed based on the same approach without any problem. Besides, the generality of the approach embraces serial, parallel, actuatedly or kinematically redundant robots. The paper seeks clarifying the issue and providing a relevant solution. It also clarifies some other useful points in this matter.