Browsing by Keyword "Scara motions"
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Item Heli4: A parallel robot for scara motions with a very compact traveling plate and a symmetrical design(2006) Krut, Sébastien; Company, Olivier; Nabat, Vincent; Pierrot, François; Tecnalia Research & InnovationThis 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.Item A high-speed parallel robot for scara motions(2004) Krut, Sébastien; Nabat, Vincent; Company, Olivier; Pierrot, François; Tecnalia Research & InnovationThis paper introduces a new 4 degree-of-freedom parallel robot. It presents its architecture inspired by FlexPicker, an ABB machine based on the Delta architecture, while overcoming its drawbacks. This paper exposes the way to get 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. Design conditions are obtained for isostatic and over-constrained cases. The robot optimization and its workspace are finally presented.