RT Conference Proceedings
T1 Dimensional synthesis of 4 DoFs (3T-1R) actuatedly redundant parallel manipulator based on dual criteria: 												Dynamics and precision
A1 Shayya, Samah
A1 Krut, Sebastien
A1 Company, Olivier
A1 Baradat, Cedric
A1 Pierrot, Francois
AB This paper presents the dimensional synthesis of a 4 dofs (3T-1R) actuatedly redundant parallel manipulator (called ARROW V1) based on dual criteria related to rapidity and precision. The dynamical (rapidity) criterion is the worst isotropic linear acceleration starting from rest, and the precision related criterion is the worst translational resolution amplification factor. This latter amplification factor happens to be equal to the theoretical translational repeatability and accuracy amplification factors as well. Also, other kinetostatic and dynamic performances have been evaluated for the synthesized set of geometric parameters as to validate global performances. The results are quite interesting showing a highly performant parallel kinematic machine (PKM).
PB Institute of Electrical and Electronics Engineers Inc.
SN 9781479969340
SN 2153-0858
YR 2014
FD 2014-10-31
LK https://hdl.handle.net/11556/1895
UL https://hdl.handle.net/11556/1895
LA eng
NO Shayya , S , Krut , S , Company , O , Baradat , C & Pierrot , F 2014 , Dimensional synthesis of 4 DoFs (3T-1R) actuatedly redundant parallel manipulator based on dual criteria : Dynamics and precision . in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems . , 6942786 , IEEE International Conference on Intelligent Robots and Systems , Institute of Electrical and Electronics Engineers Inc. , pp. 1716-1723 , 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 , Chicago , United States , 14/09/14 . https://doi.org/10.1109/IROS.2014.6942786
NO conference
NO Publisher Copyright: © 2014 IEEE.
DS TECNALIA Publications
RD 28 jul 2024