DocumentCode
3297143
Title
H4: a new family of 4-DOF parallel robots
Author
Pierrot, Francois ; Company, Olivier
Author_Institution
LIRMM, CNRS, Montpellier
fYear
1999
fDate
1999
Firstpage
508
Lastpage
513
Abstract
This paper presents a new family of fully-parallel robots providing 3 translations and 1 rotation about a given axis. Such machines are aimed to use in robotics or machining. The ability of the proposed structure to provide the needed DOF is first proved. Position and velocity relationships are given. Finally, constructive designs are presented that show the effectiveness of the solution with either linear or rotational actuators; symmetrical and asymmetrical designs show that the H4 principle can be the base of a complete family of machines
Keywords
industrial robots; machine tools; position control; robot kinematics; velocity control; H4 parallel robots; kinematics; machine tools; position control; rotation; translations; velocity control; Design methodology; Hydraulic actuators; Kinematics; Machining; Milling; Parallel machines; Parallel robots; Service robots; Testing; Toy industry;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-7803-5038-3
Type
conf
DOI
10.1109/AIM.1999.803222
Filename
803222
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