Title :
HEXA: a fast six-DOF fully-parallel robot
Author :
Pierrot, F. ; Dauchez, P. ; Fournier, A.
Author_Institution :
Lab. d´´Autom. et de Microelectron. de Montpellier, Montpellier Univ., France
Abstract :
The paper presents a new design for a six-degree-of-freedom (DOF) parallel structure dedicated to high-speed applications. The authors extend the principle of the DELTA mechanical structure in order to obtain orientations of the travelling plate. The approach which goes from the DELTA to the HEXA is first developed. Then a kinematic model of the HEXA is proposed. Finally a dynamic model of that robot is presented.<>
Keywords :
control system synthesis; dynamics; kinematics; robots; 6-DOF parallel robots; DELTA; HEXA; dynamic model; kinematic model; mechanical structure; parallel structure; travelling plate orientations; Actuators; Aerospace simulation; End effectors; Force control; Global warming; Kinematics; Mobile robots; Parallel robots; Service robots;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240399
