Abstract
A high-speed, four-degree-of-freedom (dof), parallel robot is analysed by considering in detail its dynamic model as well as issues directly linked to its practical design. A small change in its kinematics is then proposed that lead to a dramatic change in its dynamic behaviour, providing room for a radical improvement and a new version of the robot.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Hervé, J.M.: The Lie group of rigid body displacements, a fundamental tool for mechanism design. Mechanism and Machine Theory 34, 719–730 (1999)
Clavel, R.: Delta, a fast robot with parallel geometry. In: 18th Int. Symposium on Industrial Robots, pp. 91–100. IFS Publications, Lausanne (1988)
Angeles, J., Morozov, A., Navarro, O.: A novel manipulator architecture for the production of Scara motions. In: Proceedings IEEE International Conference on Robotics and Automation, San Francisco, USA, pp. 2370–2375 (April 2000)
Rolland, L.: The Manta and the Kanuk: Novel 4-dof parallel mechanisms for industrial handling. In: ASME IMECE 1999, Nashville, USA, pp. 831–844 (1999)
Thurneysen, M., Schnyder, M., Clavel, R., Jiovanola, J.: A new parallel kinematics for high speed machine tools Hita STT. In: 3rd Chemnitzer Parallelkinematik Seminar (PKS 2002), Chemnitz, Germany, pp. 553–562 (April 23-25, 2002)
Pierrot, F., Company, O.: H4: a new family of 4-dof parallel Robots. In: AIM 1999. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, USA, pp. 508–513 (September 1999)
Krut, S., et al.: I4: A New Parallel Mechanism for Scara Motions. In: Proc. Of IEEE ICRA 2003: Int. Conf. on Robotics and Automation, Taipe, Taiwan (September 14-19, 2003)
Krut, S., Nabat, V., Company, O., Pierrot, F.: A high speed robot for Scara motions. In: Proc. of IEEE ICRA: Int. Conf. on Robotics and Automation, New Orleans, USA (April 26 - May 1, 2004)
Khalil, W., Ibrahim, O.: General solution for the dynamic modeling of parallel robots. In: Proc. of IEEE ICRA: Int. Conf. on Robotics and Automation, New Orleans, USA (April 26–May 1, 2004)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Nabat, V., Krut, S., Company, O., Poignet, P., Pierrot, F. (2008). On the Design of a Fast Parallel Robot Based on Its Dynamic Model. In: Khatib, O., Kumar, V., Rus, D. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 39. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77457-0_38
Download citation
DOI: https://doi.org/10.1007/978-3-540-77457-0_38
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-77456-3
Online ISBN: 978-3-540-77457-0
eBook Packages: EngineeringEngineering (R0)