I4: A new parallel mechanism for Scara motions

This paper presents a new robot which produces four motions for high speed handling (three translations and one rotation about a given axis in world coordinates). This machine is an evolution of H4's architecture. First, H4's advantages are recalled, and some limitations are mentioned. To...

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Bibliographic Details
Published in2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Vol. 2; pp. 1875 - 1880 vol.2
Main Authors Krut, S., Benoit, M., Ota, H., Pierrot, F.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2003
Subjects
Acceleration
Aerospace simulation
Calibration
Jacobian matrices
Performance evaluation
Prototypes
Research and development
Robot kinematics
Solid modeling
Wrist
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Summary:This paper presents a new robot which produces four motions for high speed handling (three translations and one rotation about a given axis in world coordinates). This machine is an evolution of H4's architecture. First, H4's advantages are recalled, and some limitations are mentioned. To compensate for these limitations a new design of the traveling plate is proposed. A description of the whole mechanism is given. The structure's ability to provide Scara motions is presented. Geometrical conditions that must be followed in order to obtain desired motions are discussed. Kinematics models are derived. The design of the first prototype is described.
ISBN:0780377362
9780780377363
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2003.1241868