Dynamic modeling and identification of Par4, a very high speed parallel manipulator

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dc.contributor.authorNabat, Vincent
dc.contributor.authorCompany, Olivier
dc.contributor.authorPierrot, François
dc.contributor.authorPoignet, Philippe
dc.contributor.institutionTecnalia Research & Innovation
dc.date.accessioned2024-07-24T11:51:26Z
dc.date.available2024-07-24T11:51:26Z
dc.date.issued2006
dc.description.abstractThis paper introduces the dynamic modeling and the identification of Par4, a four-degree-of-freedom parallel manipulator producing Schonflies motions (three translations and one rotation about a fixed axis). First of all, this paper presents how this robot is developed with the goal of reaching very high speed. Indeed, it is an evolution of Delta, H4 and I4 robots architectures: it keeps their advantages while overcoming their drawbacks. Experimentations done with the prototype prove that the robot is able to reach very high accelerations (15 G) and to perform an Adept cycle in 0.25 s. In order to improve its dynamic accuracy, a dynamic control could be necessary. Thus, this paper presents the dynamic modeling of the manipulator using a simplified Newton-Euler approach. The originality of this computation is to model the traveling as two separated parts and to determine the dynamic effects applied on each of them. Finally, since a dynamic control requires a good evaluation of dynamic parameters, an experimental dynamic identification is presented.en
dc.description.statusPeer reviewed
dc.format.extent6
dc.identifier.citationNabat , V , Company , O , Pierrot , F & Poignet , P 2006 , Dynamic modeling and identification of Par4, a very high speed parallel manipulator . in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 . , 4059221 , IEEE International Conference on Intelligent Robots and Systems , pp. 496-501 , 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 , Beijing , China , 9/10/06 . https://doi.org/10.1109/IROS.2006.282533
dc.identifier.citationconference
dc.identifier.doi10.1109/IROS.2006.282533
dc.identifier.isbn142440259X
dc.identifier.isbn9781424402595
dc.identifier.urihttps://hdl.handle.net/11556/2081
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=34250656653&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/restrictedAccess
dc.subject.keywordsArticulated traveling plate
dc.subject.keywordsDynamic identification
dc.subject.keywordsDynamic modeling
dc.subject.keywordsPKM
dc.subject.keywordsSchoenflies motion
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsSoftware
dc.subject.keywordsComputer Vision and Pattern Recognition
dc.subject.keywordsComputer Science Applications
dc.titleDynamic modeling and identification of Par4, a very high speed parallel manipulatoren
dc.typeconference output
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