Title :
Structural synthesis of ´parallel´ robots generating spatial translation
Author :
Hervé, J.M. ; Sparacino, F.
Author_Institution :
Ecole Centrale de Paris, Chatenay-Malabry, France
Abstract :
Presents a tool, based on the mathematical group theory, for the synthesis of new parallel structure robots. By the kinematic principle of displacement subgroups intersection a family of 3 degrees of freedom robots for pure spatial translation movements is conceived. One of the many possible implementations is also given as an example.<>
Keywords :
group theory; kinematics; robots; 3 degrees of freedom robots; displacement subgroups intersection; group theory; kinematic principle; parallel structure robots; pure spatial translation movements; structural synthesis; Aerospace simulation; Bars; Kinematics; Manipulators; Mathematical model; Parallel robots; Prototypes; Rhythm; Testing; Tires;
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.1991.240575
