RT Conference Proceedings
T1 Dynamic modeling and identification of Par4, a very high speed parallel manipulator
A1 Nabat, Vincent
A1 Company, Olivier
A1 Pierrot, François
A1 Poignet, Philippe
AB This paper introduces the dynamic modeling and the identification of Par4, a four-degree-of-freedom parallel manipulator producing Schonflies motions (three translations and one rotation about a fixed axis). First of all, this paper presents how this robot is developed with the goal of reaching very high speed. Indeed, it is an evolution of Delta, H4 and I4 robots architectures: it keeps their advantages while overcoming their drawbacks. Experimentations done with the prototype prove that the robot is able to reach very high accelerations (15 G) and to perform an Adept cycle in 0.25 s. In order to improve its dynamic accuracy, a dynamic control could be necessary. Thus, this paper presents the dynamic modeling of the manipulator using a simplified Newton-Euler approach. The originality of this computation is to model the traveling as two separated parts and to determine the dynamic effects applied on each of them. Finally, since a dynamic control requires a good evaluation of dynamic parameters, an experimental dynamic identification is presented.
SN 142440259X
SN 9781424402595
YR 2006
FD 2006
LK https://hdl.handle.net/11556/2081
UL https://hdl.handle.net/11556/2081
LA eng
NO Nabat , V , Company , O , Pierrot , F & Poignet , P 2006 , Dynamic modeling and identification of Par4, a very high speed parallel manipulator . in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 . , 4059221 , IEEE International Conference on Intelligent Robots and Systems , pp. 496-501 , 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 , Beijing , China , 9/10/06 . https://doi.org/10.1109/IROS.2006.282533
NO conference
DS TECNALIA Publications
RD 27 jul 2024