DocumentCode
3337686
Title
HEXA: a fast six-DOF fully-parallel robot
Author
Pierrot, F. ; Dauchez, P. ; Fournier, A.
Author_Institution
Lab. d´´Autom. et de Microelectron. de Montpellier, Montpellier Univ., France
fYear
1991
fDate
19-22 June 1991
Firstpage
1158
Abstract
The paper presents a new design for a six-degree-of-freedom (DOF) parallel structure dedicated to high-speed applications. The authors extend the principle of the DELTA mechanical structure in order to obtain orientations of the travelling plate. The approach which goes from the DELTA to the HEXA is first developed. Then a kinematic model of the HEXA is proposed. Finally a dynamic model of that robot is presented.<>
Keywords
control system synthesis; dynamics; kinematics; robots; 6-DOF parallel robots; DELTA; HEXA; dynamic model; kinematic model; mechanical structure; parallel structure; travelling plate orientations; Actuators; Aerospace simulation; End effectors; Force control; Global warming; Kinematics; Mobile robots; Parallel robots; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240399
Filename
240399
Link To Document