Title :
Eureka: a new 5-degree-of-freedom redundant parallel mechanism with high tilting capabilities
Author :
Krut, Sebastlen ; Company, Olivier ; Rangsri, Sani ; Pierrot, Franwis
Author_Institution :
LIRMM, UMR, Montpellier, France
Abstract :
This paper introduces Eureka, a new parallel mechanism providing five motions: three translations plus two rotations. This device is able to reach high tilting angles (±90° about a first given axis and a whole revolution about the following axis). This is due to actuation redundancy and to the specific traveling plate. Kinematic models are derived. Due to its particular shape the forward geometrical model is also derived easily. A plot of its well conditioned workspace is given. Practical designs, free of self-collisions, are shown.
Keywords :
Jacobian matrices; collision avoidance; computational geometry; manipulator kinematics; motion control; redundant manipulators; vectors; 5 degree of freedom; Eureka; Jacobian matrices; actuation redundancy; geometrical model; high tilting angles; kinematic models; redundant parallel mechanism; rotational motion; self-collisions; translational motion; traveling plate; vectors; workspace; Acceleration; Agile manufacturing; Arm; Buildings; Kinematics; Machine tools; Machining; Milling; Parallel robots; Wrist;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249710
