A novel (3T-2R) 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.accessioned2024-07-24T11:52:52Z
dc.date.available2024-07-24T11:52:52Z
dc.date.issued2014-09-22
dc.descriptionPublisher Copyright: © 2014 IEEE.
dc.description.abstractThe 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.en
dc.description.statusPeer reviewed
dc.format.extent8
dc.identifier.citationShayya , 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
dc.identifier.citationconference
dc.identifier.doi10.1109/ICRA.2014.6907699
dc.identifier.isbn9781479936854
dc.identifier.isbn9781479936854
dc.identifier.issn1050-4729
dc.identifier.urihttps://hdl.handle.net/11556/2237
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=84929225020&partnerID=8YFLogxK
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation
dc.relation.ispartofseriesProceedings - IEEE International Conference on Robotics and Automation
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsSoftware
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsArtificial Intelligence
dc.subject.keywordsElectrical and Electronic Engineering
dc.subject.keywordsSDG 3 - Good Health and Well-being
dc.subject.keywordsSDG 9 - Industry, Innovation, and Infrastructure
dc.titleA novel (3T-2R) parallel mechanism with large operational workspace and rotational capabilityen
dc.typeconference output
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