RT Conference Proceedings
T1 Heli4: 												A parallel robot for scara motions with a very compact traveling plate and a symmetrical design
A1 Krut, Sébastien
A1 Company, Olivier
A1 Nabat, Vincent
A1 Pierrot, François
AB This paper introduces Heli4 a new 4 degree-of-freedom parallel robot. It is inspired by the Delta architecture, but was designed to overcome its limitations, using an articulated traveling plate. Unlike most articulated traveling plates, Heli4's traveling plate is very compact. Among other positive aspects is its symmetrical design. This paper gives the geometrical models, and particularly the forward position relationship which can be obtained in a closed form. In a third part, a detailed study of the robot singularities is made by taking into account the not-so-classic internal singularities.
SN 142440259X
SN 9781424402595
YR 2006
FD 2006
LK https://hdl.handle.net/11556/2829
UL https://hdl.handle.net/11556/2829
LA eng
NO Krut , S , Company , O , Nabat , V & Pierrot , F 2006 , Heli4 : A parallel robot for scara motions with a very compact traveling plate and a symmetrical design . in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 . , 4058613 , IEEE International Conference on Intelligent Robots and Systems , pp. 1656-1661 , 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 , Beijing , China , 9/10/06 . https://doi.org/10.1109/IROS.2006.282120
NO conference
DS TECNALIA Publications
RD 28 jul 2024