Heli4: A Parallel Robot for Scara Motions with a Very Compact Traveling Plate and a Symmetrical Design

Author

Krut, Sebastien ; Company, Olivier ; Nabat, Vincent ; Pierrot, Frangois

Author_Institution

LIRMM, Montpellier

fYear

2006

fDate

Oct. 2006

Firstpage

1656

Lastpage

1661

Abstract

This paper introduces Heli4 a new 4 degree-of-freedom parallel robot. It is inspired by the Delta architecture, but was designed to overcome its limitations, using an articulated traveling plate. Unlike most articulated traveling plates, Heli4´s traveling plate is very compact. Among other positive aspects is its symmetrical design. This paper gives the geometrical models, and particularly the forward position relationship which can be obtained in a closed form. In a third part, a detailed study of the robot singularities is made by taking into account the not-so-classic internal singularities

Keywords

plates (structures); robot kinematics; Delta architecture; Heli4; compact traveling plate; parallel robot; robot singularities; scara motions; symmetrical design; Aerospace simulation; Fasteners; Hydraulic actuators; Intelligent robots; Leg; Parallel robots; Prototypes; Robot kinematics; Solid modeling; Testing; PKM (Parallel Kinematic Machines); Scara motions; articulated traveling plate; closed-form geometrical models; internal singularities;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0259-X

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282120

Filename

4058613