Very fast Schoenflies motion generator

Author

Nabat, Vincent ; De la O Rodriguez, Maria ; Company, Olivier ; Pierrot, Francois ; Dauchez, Pierre

Author_Institution

Fundacion FATRONIK

fYear

2005

fDate

14-17 Dec. 2005

Firstpage

365

Lastpage

370

Abstract

This paper introduces a four-degree-of-freedom parallel manipulator producing Schonflies motions (three translations and one rotation). It has been developed with the goal of reaching very high speed. This paper shows that its architecture is particularly well adapted to high dynamics. Indeed, it is an evolution of delta, H4 and I4 robots architectures: it keeps the advantages of these existing robots, while overcoming their drawbacks. In addition, this paper shows the dynamic modelling of the architecture that is useful for a future dynamic control. Finally, experimental results are shown, and prove that the robot is able to reach high accelerations (13 G) and obtain a cycle time of 0.28 s

Keywords

manipulator dynamics; Schoenflies motion generator; dynamic control; four-degree-of-freedom parallel manipulator; robot architecture; Acceleration; Actuators; Aerospace simulation; Belts; Manipulator dynamics; Packaging; Prototypes; Pulleys; Robotic assembly; Service robots; Articulated traveling plate; PKM; Schoenflies Motion; pick-and-place;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 2005. ICIT 2005. IEEE International Conference on

Conference_Location

Hong Kong

Print_ISBN

0-7803-9484-4

Type

conf

DOI

10.1109/ICIT.2005.1600665

Filename

1600665