Title :
A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability
Author :
Shayya, Samah ; Krut, Sebastien ; Company, Olivier ; Baradat, Cedric ; Pierrot, Francois
Author_Institution :
Montpellier Lab. of Inf., Robot., & Microelectron. (LIRMM in French), Montpellier Univ. of Sci. & Technol. (UM2), Montpellier, France
fDate :
May 31 2014-June 7 2014
Abstract :
The paper presents a novel 5 dofs (3T-2R) parallel mechanism. The mechanism is characterized by large singularity-free workspace and particularly large rotational capability which makes it suitable for 5 face-machining and similar applications. Having all its prismatic actuators along x direction, the x-motion is independent from other dofs-only limited by prismatic actuators´ strokes-constituting another major advantageous feature. Besides, an analytical direct geometric model can be easily established which is a rare feature in parallel robots. The paper introduces the novel mechanism with its inverse and direct geometric models as well as its kinematic models (forward and inverse Jacobians). Also, it discusses its singularity analysis and presents sample workspace plots evaluated based on isotropic performance regarding velocity and static force.
Keywords :
actuators; industrial manipulators; machining; manipulator kinematics; 5 DoF 3T-2R parallel mechanism; 5 face-machining; analytical direct geometric model; forward Jacobians; inverse Jacobians; inverse geometric models; kinematic models; parallel robots; prismatic actuators; singularity analysis; singularity-free workspace; Actuators; Analytical models; Jacobian matrices; Joints; Kinematics; Robots; Transmission line matrix methods;
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
DOI :
10.1109/ICRA.2014.6907699
