A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability

This paper presents a novel 4 dofs (3T-1R (1) ) parallel redundant mechanism, with its complete study regarding inverse and direct geometric models (IGM and DGM), as well as singularity and workspace analysis. The robot is capable of performing a half-turn about the z axis (a complete turn would be...

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Bibliographic Details
Published in2013 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 436 - 443
Main Authors Shayya, Samah, Krut, Sebastien, Company, Olivier, Baradat, Cedric, Pierrot, Francois
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2013
Subjects
Actuators
Equations
Jacobian matrices
Joints
Mathematical model
Robots
Vectors
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Summary:This paper presents a novel 4 dofs (3T-1R (1) ) parallel redundant mechanism, with its complete study regarding inverse and direct geometric models (IGM and DGM), as well as singularity and workspace analysis. The robot is capable of performing a half-turn about the z axis (a complete turn would be theoretically possible if it were not for possible unavoidable inter-collisions in the practical case), and having all of its prismatic actuators along one direction, enables it to have an independent x motion - only limited by the stroke of the prismatic actuators. The mechanism is characterized by elevated dynamical capabilities having its actuators at base. Moreover, the performance of the robot is evaluated considering isotropy in velocity and forces.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2013.6696388