A high-speed parallel robot for scara motions

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dc.contributor.authorKrut, Sébastien
dc.contributor.authorNabat, Vincent
dc.contributor.authorCompany, Olivier
dc.contributor.authorPierrot, François
dc.contributor.institutionTecnalia Research & Innovation
dc.date.accessioned2024-07-24T12:11:52Z
dc.date.available2024-07-24T12:11:52Z
dc.date.issued2004
dc.description.abstractThis paper introduces a new 4 degree-of-freedom parallel robot. It presents its architecture inspired by FlexPicker, an ABB machine based on the Delta architecture, while overcoming its drawbacks. This paper exposes the way to get 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. Design conditions are obtained for isostatic and over-constrained cases. The robot optimization and its workspace are finally presented.en
dc.description.statusPeer reviewed
dc.format.extent7
dc.identifier.citationKrut , S , Nabat , V , Company , O & Pierrot , F 2004 , ' A high-speed parallel robot for scara motions ' , Proceedings - IEEE International Conference on Robotics and Automation , vol. 2004 , no. 4 , pp. 4109-4115 . https://doi.org/10.1109/robot.2004.1308914
dc.identifier.doi10.1109/robot.2004.1308914
dc.identifier.issn1050-4729
dc.identifier.urihttps://hdl.handle.net/11556/4229
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=3042630049&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsPick-and-place
dc.subject.keywordsPKM
dc.subject.keywordsScara motions
dc.subject.keywordsSoftware
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsArtificial Intelligence
dc.subject.keywordsElectrical and Electronic Engineering
dc.titleA high-speed parallel robot for scara motionsen
dc.typeconference output
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