Par2: A spatial mechanism for fast planar two-degree-of-freedom pick-and-place applications

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dc.contributor.authorCompany, Olivier
dc.contributor.authorPierrot, François
dc.contributor.authorKrut, Sébastien
dc.contributor.authorBaradat, Cédric
dc.contributor.authorNabat, Vincent
dc.contributor.institutionTecnalia Research & Innovation
dc.date.accessioned2024-07-24T12:06:10Z
dc.date.available2024-07-24T12:06:10Z
dc.date.issued2011-02
dc.description.abstractThis paper introduces a new two-degree-of-freedom (dof) parallel manipulator producing two translations in the vertical plane. One drawback of existing robots built to realize these dof is their lack of transversal stiffness, another one being their limited ability to provide very high acceleration. Indeed, these architectures cannot be lightweight and stiff at the same time. The proposed parallel architecture is a spatial mechanism which guarantees a good transversal stiffness. It is composed by two actuated kinematic chains, and two passive chains built in the transversal plane. The key feature of this robot comes from the two passive chains which are coupled to create a kinematic constraint: the platform stays in one plane. A stiffness analysis shows that the robot can be lighter and stiffer than a classical 2-dof mechanism. A prototype of this robot is presented and preliminary tests show that accelerations above 400 ms-1 can be achieved while keeping a low tracking error.en
dc.description.statusPeer reviewed
dc.format.extent10
dc.identifier.citationCompany , O , Pierrot , F , Krut , S , Baradat , C & Nabat , V 2011 , ' Par2 : A spatial mechanism for fast planar two-degree-of-freedom pick-and-place applications ' , Meccanica , vol. 46 , no. 1 , pp. 239-248 . https://doi.org/10.1007/s11012-010-9413-x
dc.identifier.doi10.1007/s11012-010-9413-x
dc.identifier.issn0025-6455
dc.identifier.urihttps://hdl.handle.net/11556/3633
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=79751524230&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofMeccanica
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywords2-dof mechanism
dc.subject.keywordsHigh acceleration
dc.subject.keywordsParallel kinematics
dc.subject.keywordsPick-and-place
dc.subject.keywordsPKM
dc.subject.keywordsCondensed Matter Physics
dc.subject.keywordsMechanics of Materials
dc.subject.keywordsMechanical Engineering
dc.titlePar2: A spatial mechanism for fast planar two-degree-of-freedom pick-and-place applicationsen
dc.typejournal article
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