Eureka: a new 5-degree-of-freedom redundant parallel mechanism with high tilting capabilities

Author

Krut, Sebastlen ; Company, Olivier ; Rangsri, Sani ; Pierrot, Franwis

Author_Institution

LIRMM, UMR, Montpellier, France

Volume

4

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

3575

Abstract

This paper introduces Eureka, a new parallel mechanism providing five motions: three translations plus two rotations. This device is able to reach high tilting angles (±90° about a first given axis and a whole revolution about the following axis). This is due to actuation redundancy and to the specific traveling plate. Kinematic models are derived. Due to its particular shape the forward geometrical model is also derived easily. A plot of its well conditioned workspace is given. Practical designs, free of self-collisions, are shown.

Keywords

Jacobian matrices; collision avoidance; computational geometry; manipulator kinematics; motion control; redundant manipulators; vectors; 5 degree of freedom; Eureka; Jacobian matrices; actuation redundancy; geometrical model; high tilting angles; kinematic models; redundant parallel mechanism; rotational motion; self-collisions; translational motion; traveling plate; vectors; workspace; Acceleration; Agile manufacturing; Arm; Buildings; Kinematics; Machine tools; Machining; Milling; Parallel robots; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249710

Filename

1249710