DocumentCode
1887401
Title
Twice: a tilting angle amplification system for parallel robots
Author
Krut, Sébastien ; Company, Olivier ; Marquet, Frédéric ; Pierrot, François
Author_Institution
LIRMM, Univ. Montpellier 2, France
Volume
4
fYear
2002
fDate
2002
Firstpage
4108
Abstract
Twice (tilling device with wide capacity), a new amplification device able to double the tilting angle of a parallel mechanism, is presented. A singularity analysis is carried out: it proves that Twice can give a huge tilting angle to parallel kinematic machines. Finally, practical implementation features are discussed.
Keywords
machine tools; manipulator kinematics; motion control; position control; Twice; inverse kinematic model; machine-tool; mobility analysis; parallel kinematic machines; parallel robots; singularity analysis; tilling device; tilting angle amplification system; Acceleration; Agile manufacturing; Arm; Buildings; Gears; Kinematics; Machining; Parallel robots; Turning; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1014388
Filename
1014388
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