Design and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator with High-Load Carrying Capacity - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Transaction of the ASME, Journal of Mechanical Design Année : 2008

Design and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator with High-Load Carrying Capacity

Résumé

In this paper, a new 4 degrees of freedom 3T1R parallel manipulator with high-load carrying capacity is presented. This manipulator generates Schönflies motions, in which the moving platform carries out three independent translations and one rotation about one axis of fixed orientation. The particularity of the proposed architecture is the decoupling of the displacements of the platform in the horizontal plane from its translation along the vertical axis. Such a decoupling allows the cancellation of the gravity loads on the actuators which displace the platform in the horizontal plane. A prototype of the proposed manipulator with four degrees of freedom and experimental validation of the suggested concept are also presented. Two cases have been examined on the built prototype: manipulator with payload and without. It was shown that the input torques of actuators displacing the platform in the horizontal plane for these two cases are the same, i.e. the payload does not bring any load to the actuators.
Fichier principal
Vignette du fichier
MD-07-1455 Double Column Test Figures.pdf (2.01 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00362518 , version 1 (24-06-2019)

Identifiants

  • HAL Id : hal-00362518 , version 1

Citer

Sébastien Briot, Vigen Arakelian, Sylvain Guegan. Design and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator with High-Load Carrying Capacity. Transaction of the ASME, Journal of Mechanical Design, 2008, 130 (12), pp.Vol. 130, No. 12. ⟨hal-00362518⟩
157 Consultations
127 Téléchargements

Partager

Gmail Facebook X LinkedIn More