RT Conference Proceedings
T1 A high-speed parallel robot for scara motions
A1 Krut, Sébastien
A1 Nabat, Vincent
A1 Company, Olivier
A1 Pierrot, François
AB This paper introduces a new 4 degree-of-freedom parallel robot. It presents its architecture inspired by FlexPicker, an ABB machine based on the Delta architecture, while overcoming its drawbacks. This paper exposes the way to get 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. Design conditions are obtained for isostatic and over-constrained cases. The robot optimization and its workspace are finally presented.
SN 1050-4729
YR 2004
FD 2004
LK https://hdl.handle.net/11556/4229
UL https://hdl.handle.net/11556/4229
LA eng
NO Krut , S , Nabat , V , Company , O & Pierrot , F 2004 , ' A high-speed parallel robot for scara motions ' , Proceedings - IEEE International Conference on Robotics and Automation , vol. 2004 , no. 4 , pp. 4109-4115 . https://doi.org/10.1109/robot.2004.1308914
DS TECNALIA Publications
RD 1 sept 2024