Above 40g acceleration for pick-and-place with a new 2-dof PKM

Simple item page
dc.contributor.authorPierrot, F.
dc.contributor.authorBaradat, C.
dc.contributor.authorNabat, V.
dc.contributor.authorCompany, O.
dc.contributor.authorKrut, S.
dc.contributor.authorGouttefarde, M.
dc.contributor.institutionTecnalia Research & Innovation
dc.date.accessioned2024-07-24T11:53:15Z
dc.date.available2024-07-24T11:53:15Z
dc.date.issued2009
dc.description.abstractThis paper introduces a new two-degree-offreedom parallel manipulator producing two translations in the vertical plane. One drawback of existing robots built to realize those dof is their lack of rigidity along the transversal axis, 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 architecture is a spatial mechanism which guarantees a good stiffness along the transversal axis. This parallel architecture 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 passive chains which are coupled for creating 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 40 g can beachieved while keeping a low trackingerror.en
dc.description.statusPeer reviewed
dc.format.extent7
dc.identifier.citationPierrot , F , Baradat , C , Nabat , V , Company , O , Krut , S & Gouttefarde , M 2009 , Above 40g acceleration for pick-and-place with a new 2-dof PKM . in 2009 IEEE International Conference on Robotics and Automation, ICRA '09 . , 5152193 , Proceedings - IEEE International Conference on Robotics and Automation , pp. 1794-1800 , 2009 IEEE International Conference on Robotics and Automation, ICRA '09 , Kobe , Japan , 12/05/09 . https://doi.org/10.1109/ROBOT.2009.5152193
dc.identifier.citationconference
dc.identifier.doi10.1109/ROBOT.2009.5152193
dc.identifier.isbn9781424427895
dc.identifier.issn1050-4729
dc.identifier.urihttps://hdl.handle.net/11556/2278
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=70350352959&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartof2009 IEEE International Conference on Robotics and Automation, ICRA '09
dc.relation.ispartofseriesProceedings - IEEE International Conference on Robotics and Automation
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsSoftware
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsArtificial Intelligence
dc.subject.keywordsElectrical and Electronic Engineering
dc.titleAbove 40g acceleration for pick-and-place with a new 2-dof PKMen
dc.typeconference output
Files