I4: A new parallel mechanism for Scara motions

Author

Krut, Sebastien ; Benoit, Mathieu ; Ota, Hiroyuki ; Pierrot, Francois

Author_Institution

LIRMM, Univ. Montpellier II, France

Volume

2

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

1875

Abstract

This paper presents a new robot which produces four motions for high speed handling (three translations and one rotation about a given axis in world coordinates). This machine is an evolution of H4´s architecture. First, H4´s advantages are recalled, and some limitations are mentioned. To compensate for these limitations a new design of the traveling plate is proposed. A description of the whole mechanism is given. The structure´s ability to provide Scara motions is presented. Geometrical conditions that must be followed in order to obtain desired motions are discussed. Kinematics models are derived. The design of the first prototype is described.

Keywords

Jacobian matrices; industrial manipulators; manipulator kinematics; motion control; Jacobian matrices; Scara motions; Scara robot; geometrical conditions; high speed handling; kinematics models; parallel mechanism; prototype design; rotational motion; translational motion; traveling plate; Acceleration; Aerospace simulation; Calibration; Jacobian matrices; Performance evaluation; Prototypes; Research and development; Robot kinematics; Solid modeling; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241868

Filename

1241868