6-DEGREES OF FREEDOM PARALLEL ROBOTS WITH C5 LINKS

被引：15

作者：

AMIRAT, Y

ARTIGUE, F

PONTNAU, J

机构：

[1] LIMRO, IUT de Cachan, 94230-Cachan, 9, avenue de la Division Leclerc

来源：

ROBOTICA | 1992年 / 10卷

关键词：

CLOSED CHAINS MECHANISM; PARALLEL ROBOT; ASSEMBLY TASK; LEFT-HAND DEVICE;

D O I：

10.1017/S0263574700007050

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents at first a static and kinematic analysis of closed chains mechanisms which permits to deduce different possible fully parallel architectures. Then we focus on a particular parallel architecture with C5 links designed to perform precise assembly tasks. A general modeling of this C5 parallel robot is presented. Two typical assembly tasks in the automotive industry are also proposed; the first one uses the C5 links parallel robot as a left-hand device, while the second one uses it as the terminal tool of a sequential manipulator.

引用

页码：35 / 44

页数：10

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