Title :
ARCHI: a new redundant parallel mechanism-modeling, control and first results
Author :
Marquet, Frederic ; Krut, Sebastien ; Company, Olivier ; Pierrot, Francois
Author_Institution :
CNRS, Montpellier, France
Abstract :
Presents a 3-DOF redundant parallel mechanism, ARCHI, designed as a sub-part of a 5-axis hybrid machine. The redundant parallel mechanism design and its models are recalled; different ways for its control and first motion results are presented, proving the ability of ARCHI to offer an unlimited rotation capability
Keywords :
Jacobian matrices; industrial robots; machine tools; position control; redundancy; robot dynamics; robot kinematics; velocity control; 3-DOF redundant parallel mechanism; 5-axis hybrid machine; ARCHI; Jacobian conditioning index; singularity; unlimited rotation capability; Actuators; Arm; Assembly; Kinematics; Machining; Motion control; Prototypes; Shape; Testing; Torque;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.973356
