RT Journal Article
T1 Par2: 												A spatial mechanism for fast planar two-degree-of-freedom pick-and-place applications
A1 Company, Olivier
A1 Pierrot, François
A1 Krut, Sébastien
A1 Baradat, Cédric
A1 Nabat, Vincent
AB This paper introduces a new two-degree-of-freedom (dof) parallel manipulator producing two translations in the vertical plane. One drawback of existing robots built to realize these dof is their lack of transversal stiffness, another one being their limited ability to provide very high acceleration. Indeed, these architectures cannot be lightweight and stiff at the same time. The proposed parallel architecture is a spatial mechanism which guarantees a good transversal stiffness. It is composed by two actuated kinematic chains, and two passive chains built in the transversal plane. The key feature of this robot comes from the two passive chains which are coupled to create a kinematic constraint: the platform stays in one plane. A stiffness analysis shows that the robot can be lighter and stiffer than a classical 2-dof mechanism. A prototype of this robot is presented and preliminary tests show that accelerations above 400 ms-1 can be achieved while keeping a low tracking error.
SN 0025-6455
YR 2011
FD 2011-02
LK https://hdl.handle.net/11556/3633
UL https://hdl.handle.net/11556/3633
LA eng
NO Company , O , Pierrot , F , Krut , S , Baradat , C & Nabat , V 2011 , ' Par2 : A spatial mechanism for fast planar two-degree-of-freedom pick-and-place applications ' , Meccanica , vol. 46 , no. 1 , pp. 239-248 . https://doi.org/10.1007/s11012-010-9413-x
DS TECNALIA Publications
RD 28 jul 2024