A new high-speed 4-DOF parallel robot synthesis and modeling issues

This paper presents a new family of fully-parallel robots producing motions of the Schoenflies displacements subgroup (three translations and one rotation about a given axis in world coordinates) for high-speed handling and machining. First, the structure's ability to provide this four-degrees-...

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Bibliographic Details
Published inIEEE transactions on robotics and automation Vol. 19; no. 3; pp. 411 - 420
Main Authors Company, O., Marquet, F., Pierrot, F.
Format Journal Article
LanguageEnglish
Published New York, NY IEEE 01.06.2003
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Aerospace simulation
Applied sciences
Asymmetry
Computer science; control theory; systems
Control theory. Systems
Design engineering
Design methodology
Exact sciences and technology
High speed
Machining
Materials handling
Mathematical models
Milling
Modelling and identification
Parallel robots
Prototypes
Robot kinematics
Robotics
Robotics and automation
Robots
Service robots
Subgroups
Synthesis
Testing
Translations
Parallel system
High speed
Machining
Subgroup
Modeling
Robotics
Handling
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Summary:This paper presents a new family of fully-parallel robots producing motions of the Schoenflies displacements subgroup (three translations and one rotation about a given axis in world coordinates) for high-speed handling and machining. First, the structure's ability to provide this four-degrees-of-freedom motion is presented. Then, two of its possible designs are analyzed: the symmetrical and the asymmetrical one. Constructive designs are then presented. Some of the prototype's preliminary control results are given to prove the H4 robot's efficiency.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
ISSN:1042-296X
2374-958X
DOI:10.1109/TRA.2003.810232