RT Journal Article
T1 Optimal design of a 4-DOF parallel manipulator: 												From academia to industry
A1 Pierrot, François
A1 Nabat, Vincent
A1 Company, Olivier
A1 Krut, Sébastien
A1 Poignet, Philippe
AB This paper presents an optimal design of a parallel manipulator aiming to perform pick-and-place operations at high speed and high acceleration. After reviewing existing architectures of high-speed and high-acceleration parallel manipulators, a new design of a 4-DOF parallel manipulator is presented, with an articulated traveling plate, which is free of internal singularities and is able to achieve high performances. The kinematic and simplified, but realistic, dynamic models are derived and validated on a manipulator prototype. Experimental tests show that this design is able to perform beyond the high targets, i.e., it reaches a speed of 5.5 m/s and an acceleration of 165 m/s2. The experimental prototype was further optimized on the basis of kinematic and dynamic criteria. Once the motors, gear ratio, and several link lengths are determined, a modified design of the articulated traveling plate is proposed in order to reach a better dynamic equilibrium among the four legs of the manipulator. The obtained design is the basis of a commercial product offering the shortest cycle times among all robots available in today's market.
SN 1552-3098
YR 2009
FD 2009
LK https://hdl.handle.net/11556/3116
UL https://hdl.handle.net/11556/3116
LA eng
NO Pierrot , F , Nabat , V , Company , O , Krut , S & Poignet , P 2009 , ' Optimal design of a 4-DOF parallel manipulator : From academia to industry ' , IEEE Transactions on Robotics , vol. 25 , no. 2 , pp. 213-224 . https://doi.org/10.1109/TRO.2008.2011412
DS TECNALIA Publications
RD 28 jul 2024