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

被引：85

作者：

Company, O ^{[1
]}

Marquet, F

Pierrot, F

机构：

[1] LIRMM, F-34392 Montpellier 5, France

[2] INRIA Sophia Antipolis, F-06902 Sophia Antipolis, France

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2003年 / 19卷 / 03期

关键词：

design; four degrees of freedom (DOFs); modeling; parallel robot;

D O I：

10.1109/TRA.2003.810232

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：411 / 420

页数：10

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