A novel 4 DoFs (3T-1R) parallel manipulator with actuation redundancy – Workspace analysis

被引：0
|
作者：
机构：
[1] Shayya, Samah
[2] Krut, Sébastien
[3] Company, Olivier
[4] Baradat, Cédric
[5] Pierrot, François
来源：
| 1600年 / Kluwer Academic Publishers卷 / 17期
关键词：
Actuation redundancy - Force capabilities - Parallel manipulators - Parallel mechanisms - Performance indices - Redundant mechanisms - Rotational capacity - Workspace analysis;
D O I：
10.1007/978-94-007-7485-8_39
中图分类号：
学科分类号：
摘要：
paper presents a novel 4 dofs (3T-1R1) parallel actuatedly redundant mechanism and its workspace analysis, based on a performance index involving velocity and force capabilities. The robot is capable of performing a half-turn2 about the z axis. Moreover, having all of its prismatic actuators along one direction; the x motion is independent- only limited by the stroke of the prismatic actuators. The mechanism is characterized by elevated dynamical capabilities having its actuators at base. © Springer Science+Business Media Dordrecht 2014.
引用
收藏
相关论文
共 50 条
  • [1] Workspace Analysis of the 4RRR Planar Parallel Manipulator with Actuation Redundancy
    徐博强
    李铁民
    刘辛军
    吴军
    Tsinghua Science and Technology, 2010, 15 (05) : 509 - 516
  • [2] Workspace analysis of the 4RRR planar parallel manipulator with actuation redundancy
    Xu B.
    Li T.
    Liu X.
    Wu J.
    Tsinghua Science and Technology, 2010, 15 (05) : 509 - 516
  • [3] Dimensional Synthesis of 4 DoFs (3T-1R) Actuatedly Redundant Parallel Manipulator Based on Dual Criteria: Dynamics and Precision
    Shayya, Samah
    Krut, Sebastien
    Company, Olivier
    Baradat, Cedric
    Pierrot, Francois
    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2014, : 1716 - 1723
  • [4] Workspace and singularity analysis of a 3-DOF planar parallel manipulator with actuation redundancy
    Wang, Jinsong
    Wu, Jun
    Li, Tiemin
    Liu, Xinjun
    ROBOTICA, 2009, 27 : 51 - 57
  • [5] Analysis of the workspace of spherical 2-DOF parallel manipulator with actuation redundancy
    Zhang, Li-Jie
    Niu, Yue-Wei
    Huang, Zhen
    IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2006, : 153 - +
  • [6] A Novel (3T-1R) Redundant Parallel Mechanism with Large Operational Workspace and Rotational Capability
    Shayya, Samah
    Krut, Sebastien
    Company, Olivier
    Baradat, Cedric
    Pierrot, Francois
    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2013, : 436 - 443
  • [7] Uncoupled actuation of overconstrained 3T-1R hybrid parallel manipulators
    Lee, Chung-Ching
    Herve, Jacques M.
    ROBOTICA, 2009, 27 : 103 - 117
  • [8] Analysis of the workspace and singularity of planar 2-DOF parallel manipulator with actuation redundancy
    Zhang, Li-Jie
    Li, Yong-Quan
    Huang, Zhen
    IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2006, : 171 - +
  • [9] Kinematics analysis and workspace optimization for a 4-DOF 3T1R parallel manipulator
    Zhao, Jie
    Wu, Cuncun
    Yang, Guilin
    Chen, Chin-Yin
    Chen, Silu
    Xiong, Ciyuan
    Zhang, Chi
    MECHANISM AND MACHINE THEORY, 2022, 167
  • [10] Design, analysis and optimization of Hex4, a new 2R1T overconstrained parallel manipulator with actuation redundancy
    Xu, Lingmin
    Chen, Genliang
    Ye, Wei
    Li, Qinchuan
    ROBOTICA, 2019, 37 (02) : 358 - 377
12345