RT Conference Proceedings
T1 A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability
A1 Shayya, Samah
A1 Krut, Sebastien
A1 Company, Olivier
A1 Baradat, Cedric
A1 Pierrot, Francois
AB The paper presents a novel 5 dofs (3T-2R) parallel mechanism. The mechanism is characterized by large singularity-free workspace and particularly large rotational capability which makes it suitable for 5 face-machining and similar applications. Having all its prismatic actuators along x direction, The x-motion is independent from other dofs-only limited by prismatic actuators' strokes-constituting another major advantageous feature. Besides, an analytical direct geometric model can be easily established which is a rare feature in parallel robots. The paper introduces The novel mechanism with its inverse and direct geometric models as well as its kinematic models (forward and inverse Jacobians). Also, it discusses its singularity analysis and presents sample workspace plots evaluated based on isotropic performance regarding velocity and static force.
PB Institute of Electrical and Electronics Engineers Inc.
SN 9781479936854
SN 9781479936854
SN 1050-4729
YR 2014
FD 2014-09-22
LK https://hdl.handle.net/11556/2237
UL https://hdl.handle.net/11556/2237
LA eng
NO Shayya , S , Krut , S , Company , O , Baradat , C & Pierrot , F 2014 , A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability . in Proceedings - IEEE International Conference on Robotics and Automation . , 6907699 , Proceedings - IEEE International Conference on Robotics and Automation , Institute of Electrical and Electronics Engineers Inc. , pp. 5712-5719 , 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 , Hong Kong , China , 31/05/14 . https://doi.org/10.1109/ICRA.2014.6907699
NO conference
NO Publisher Copyright: © 2014 IEEE.
DS TECNALIA Publications
RD 28 jul 2024