Optimal design of a 4-DOF parallel manipulator: From academia to industry

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dc.contributor.authorPierrot, François
dc.contributor.authorNabat, Vincent
dc.contributor.authorCompany, Olivier
dc.contributor.authorKrut, Sébastien
dc.contributor.authorPoignet, Philippe
dc.contributor.institutionTecnalia Research & Innovation
dc.date.accessioned2024-07-24T12:01:10Z
dc.date.available2024-07-24T12:01:10Z
dc.date.issued2009
dc.description.abstractThis paper presents an optimal design of a parallel manipulator aiming to perform pick-and-place operations at high speed and high acceleration. After reviewing existing architectures of high-speed and high-acceleration parallel manipulators, a new design of a 4-DOF parallel manipulator is presented, with an articulated traveling plate, which is free of internal singularities and is able to achieve high performances. The kinematic and simplified, but realistic, dynamic models are derived and validated on a manipulator prototype. Experimental tests show that this design is able to perform beyond the high targets, i.e., it reaches a speed of 5.5 m/s and an acceleration of 165 m/s2. The experimental prototype was further optimized on the basis of kinematic and dynamic criteria. Once the motors, gear ratio, and several link lengths are determined, a modified design of the articulated traveling plate is proposed in order to reach a better dynamic equilibrium among the four legs of the manipulator. The obtained design is the basis of a commercial product offering the shortest cycle times among all robots available in today's market.en
dc.description.statusPeer reviewed
dc.format.extent12
dc.identifier.citationPierrot , F , Nabat , V , Company , O , Krut , S & Poignet , P 2009 , ' Optimal design of a 4-DOF parallel manipulator : From academia to industry ' , IEEE Transactions on Robotics , vol. 25 , no. 2 , pp. 213-224 . https://doi.org/10.1109/TRO.2008.2011412
dc.identifier.doi10.1109/TRO.2008.2011412
dc.identifier.issn1552-3098
dc.identifier.urihttps://hdl.handle.net/11556/3116
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=67349240874&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofIEEE Transactions on Robotics
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsArticulated traveling plate
dc.subject.keywordsDynamic model
dc.subject.keywordsParallel robot
dc.subject.keywordsPick and place
dc.subject.keywordsSchöenflies motion
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsComputer Science Applications
dc.subject.keywordsElectrical and Electronic Engineering
dc.titleOptimal design of a 4-DOF parallel manipulator: From academia to industryen
dc.typejournal article
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