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

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dc.contributor.authorShayya, Samah
dc.contributor.authorKrut, Sebastien
dc.contributor.authorCompany, Olivier
dc.contributor.authorBaradat, Cedric
dc.contributor.authorPierrot, Francois
dc.contributor.institutionTecnalia Research & Innovation
dc.date.accessioned2024-07-24T11:56:11Z
dc.date.available2024-07-24T11:56:11Z
dc.date.issued2013
dc.description.abstractThis 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.en
dc.description.statusPeer reviewed
dc.format.extent8
dc.identifier.citationShayya , 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
dc.identifier.citationconference
dc.identifier.doi10.1109/IROS.2013.6696388
dc.identifier.isbn9781467363587
dc.identifier.issn2153-0858
dc.identifier.urihttps://hdl.handle.net/11556/2597
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=84893753890&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofIROS 2013
dc.relation.ispartofseriesIEEE International Conference on Intelligent Robots and Systems
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsSoftware
dc.subject.keywordsComputer Vision and Pattern Recognition
dc.subject.keywordsComputer Science Applications
dc.subject.keywordsSDG 3 - Good Health and Well-being
dc.titleA novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capabilityen
dc.typeconference output
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