Krut, SébastienCompany, OlivierNabat, VincentPierrot, François2024-07-242024-07-242006Krut , 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.2006.282120conference142440259X9781424402595https://hdl.handle.net/11556/2829This 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.6enginfo:eu-repo/semantics/openAccessconference output10.1109/IROS.2006.282120Articulated traveling plateClosed-form geometrical modelsInternal singularitiesPKM (Parallel Kinematic Machines)Scara motionsControl and Systems EngineeringSoftwareComputer Vision and Pattern RecognitionComputer Science Applicationshttp://www.scopus.com/inward/record.url?scp=34250630864&partnerID=8YFLogxK