Dimensional synthesis of 4 DoFs (3T-1R) actuatedly redundant parallel manipulator based on dual criteria: Dynamics and precision

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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.accessioned2024-07-24T11:49:39Z
dc.date.available2024-07-24T11:49:39Z
dc.date.issued2014-10-31
dc.descriptionPublisher Copyright: © 2014 IEEE.
dc.description.abstractThis paper presents the dimensional synthesis of a 4 dofs (3T-1R) actuatedly redundant parallel manipulator (called ARROW V1) based on dual criteria related to rapidity and precision. The dynamical (rapidity) criterion is the worst isotropic linear acceleration starting from rest, and the precision related criterion is the worst translational resolution amplification factor. This latter amplification factor happens to be equal to the theoretical translational repeatability and accuracy amplification factors as well. Also, other kinetostatic and dynamic performances have been evaluated for the synthesized set of geometric parameters as to validate global performances. The results are quite interesting showing a highly performant parallel kinematic machine (PKM).en
dc.description.statusPeer reviewed
dc.format.extent8
dc.identifier.citationShayya , S , Krut , S , Company , O , Baradat , C & Pierrot , F 2014 , Dimensional synthesis of 4 DoFs (3T-1R) actuatedly redundant parallel manipulator based on dual criteria : Dynamics and precision . in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems . , 6942786 , IEEE International Conference on Intelligent Robots and Systems , Institute of Electrical and Electronics Engineers Inc. , pp. 1716-1723 , 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 , Chicago , United States , 14/09/14 . https://doi.org/10.1109/IROS.2014.6942786
dc.identifier.citationconference
dc.identifier.doi10.1109/IROS.2014.6942786
dc.identifier.isbn9781479969340
dc.identifier.issn2153-0858
dc.identifier.urihttps://hdl.handle.net/11556/1895
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=84911498915&partnerID=8YFLogxK
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartofIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
dc.relation.ispartofseriesIEEE International Conference on Intelligent Robots and Systems
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsSoftware
dc.subject.keywordsComputer Vision and Pattern Recognition
dc.subject.keywordsComputer Science Applications
dc.titleDimensional synthesis of 4 DoFs (3T-1R) actuatedly redundant parallel manipulator based on dual criteria: Dynamics and precisionen
dc.typeconference output
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