A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability

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URI: https://hdl.handle.net/11556/2597
ISSN: 2153-0858
ISBN: 9781467363587
DOI: 10.1109/IROS.2013.6696388
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2013
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This 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.
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Control and Systems Engineering , Software , Computer Vision and Pattern Recognition , Computer Science Applications , SDG 3 - Good Health and Well-being
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Shayya , S , Krut , S , Company , O , Baradat , C & Pierrot , F 2013 , A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability . in IROS 2013 : New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems . , 6696388 , IEEE International Conference on Intelligent Robots and Systems , pp. 436-443 , 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 , Tokyo , Japan , 3/11/13 . https://doi.org/10.1109/IROS.2013.6696388
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