Title :
Twice: a tilting angle amplification system for parallel robots
Author :
Krut, Sébastien ; Company, Olivier ; Marquet, Frédéric ; Pierrot, François
Author_Institution :
LIRMM, Univ. Montpellier 2, France
Abstract :
Twice (tilling device with wide capacity), a new amplification device able to double the tilting angle of a parallel mechanism, is presented. A singularity analysis is carried out: it proves that Twice can give a huge tilting angle to parallel kinematic machines. Finally, practical implementation features are discussed.
Keywords :
machine tools; manipulator kinematics; motion control; position control; Twice; inverse kinematic model; machine-tool; mobility analysis; parallel kinematic machines; parallel robots; singularity analysis; tilling device; tilting angle amplification system; Acceleration; Agile manufacturing; Arm; Buildings; Gears; Kinematics; Machining; Parallel robots; Turning; Wrist;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014388
