Title :
Schoen flies Motion Generator: A New Non Redundant Parallel Manipulator with Unlimited Rotation Capability
Author :
Company, Olivier ; Pierrot, Francois ; Nabat, Vincent ; de la O Rodriguez, M.
Author_Institution :
LIRMM CNRS - University of Montpellier II 161 rue Ada, 34392 Montpellier Cedex 5, France, company@lirmm.fr
Abstract :
Nowadays an important research effort is devoted to lower mobility parallel manipulators. The existing solutions often suffer from parallel mechanisms drawbacks, i.e. small workspace and limited rotation capability. A new concept of parallel manipulators providing Schoen flies motions (motions of well-known SCARA robot) is introduced in this paper. The proposed manipulator, based on the idea of articulated traveling plate explored by the authors, has an unlimited rotation capability without using motion transformation, ampli fication neither redundancy.
Keywords :
Modeling; Parallel manipulator; Schoen flies motions; Unlimited rotation; Drilling; Kinematics; Laser beam cutting; Manipulators; Mobile robots; Packaging; Parallel robots; Robotic assembly; Rotation measurement; Water jet cutting; Modeling; Parallel manipulator; Schoen flies motions; Unlimited rotation;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570611