RT Conference Proceedings
T1 Par4: 												Very high speed parallel robot for pick-and-place
A1 Nabat, Vincent
A1 De La O Rodriguez, Maria
A1 Company, Olivier
A1 Krut, Sebastien
A1 Pierrot, Francois
AB This paper introduces a four-degree-of-freedom parallel manipulator dedicated to pick-and-place. It has been developed with the goal of reaching very high speed. This paper shows that its architecture is particularly well adapted to high dynamics. Indeed, it is an evolution of Delta, H4 and 14 robots architectures: it keeps the advantages of these existing robots, while overcoming their drawbacks. In addition, an optimization method based on velocity using Adept Motion has been developed and applied to this high speed parallel robot. All these considerations led to experimentations that proved we can reach high accelerations (13 G) and obtain a cycle time of 0.28 s.
PB IEEE Computer Society
SN 0780389123
SN 9780780389120
YR 2005
FD 2005
LK https://hdl.handle.net/11556/2307
UL https://hdl.handle.net/11556/2307
LA eng
NO Nabat , V , De La O Rodriguez , M , Company , O , Krut , S & Pierrot , F 2005 , Par4 : Very high speed parallel robot for pick-and-place . in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS . , 1545143 , 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS , IEEE Computer Society , pp. 553-558 . https://doi.org/10.1109/IROS.2005.1545143
DS TECNALIA Publications
RD 1 sept 2024