Heli4: A parallel robot for scara motions with a very compact traveling plate and a symmetrical design

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dc.contributor.authorKrut, Sébastien
dc.contributor.authorCompany, Olivier
dc.contributor.authorNabat, Vincent
dc.contributor.authorPierrot, François
dc.contributor.institutionTecnalia Research & Innovation
dc.date.accessioned2024-07-24T11:58:21Z
dc.date.available2024-07-24T11:58:21Z
dc.date.issued2006
dc.description.abstractThis paper introduces Heli4 a new 4 degree-of-freedom parallel robot. It is inspired by the Delta architecture, but was designed to overcome its limitations, using an articulated traveling plate. Unlike most articulated traveling plates, Heli4's traveling plate is very compact. Among other positive aspects is its symmetrical design. This paper gives the geometrical models, and particularly the forward position relationship which can be obtained in a closed form. In a third part, a detailed study of the robot singularities is made by taking into account the not-so-classic internal singularities.en
dc.description.statusPeer reviewed
dc.format.extent6
dc.identifier.citationKrut , S , Company , O , Nabat , V & Pierrot , F 2006 , Heli4 : A parallel robot for scara motions with a very compact traveling plate and a symmetrical design . in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 . , 4058613 , IEEE International Conference on Intelligent Robots and Systems , pp. 1656-1661 , 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 , Beijing , China , 9/10/06 . https://doi.org/10.1109/IROS.2006.282120
dc.identifier.citationconference
dc.identifier.doi10.1109/IROS.2006.282120
dc.identifier.isbn142440259X
dc.identifier.isbn9781424402595
dc.identifier.urihttps://hdl.handle.net/11556/2829
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=34250630864&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartof2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
dc.relation.ispartofseriesIEEE International Conference on Intelligent Robots and Systems
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsArticulated traveling plate
dc.subject.keywordsClosed-form geometrical models
dc.subject.keywordsInternal singularities
dc.subject.keywordsPKM (Parallel Kinematic Machines)
dc.subject.keywordsScara motions
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsSoftware
dc.subject.keywordsComputer Vision and Pattern Recognition
dc.subject.keywordsComputer Science Applications
dc.titleHeli4: A parallel robot for scara motions with a very compact traveling plate and a symmetrical designen
dc.typeconference output
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