A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability

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URI: https://hdl.handle.net/11556/2237
ISSN: 1050-4729
ISBN: 9781479936854
ISBN: 9781479936854
DOI: 10.1109/ICRA.2014.6907699
Publication date
2014-09-22
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Institute of Electrical and Electronics Engineers Inc.
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Abstract
The 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.
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Publisher Copyright: © 2014 IEEE.
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Software , Control and Systems Engineering , Artificial Intelligence , Electrical and Electronic Engineering , SDG 3 - Good Health and Well-being , SDG 9 - Industry, Innovation, and Infrastructure
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Shayya , S , Krut , S , Company , O , Baradat , C & Pierrot , F 2014 , A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability . in Proceedings - IEEE International Conference on Robotics and Automation . , 6907699 , Proceedings - IEEE International Conference on Robotics and Automation , Institute of Electrical and Electronics Engineers Inc. , pp. 5712-5719 , 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 , Hong Kong , China , 31/05/14 . https://doi.org/10.1109/ICRA.2014.6907699
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