Kinetostatic design of an innovative Schoenflies-motion generator - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science Année : 2006

Kinetostatic design of an innovative Schoenflies-motion generator

Résumé

In this paper, a novel parallel robot is introduced. The robot, a Schoenflies-Motion Generator (SMG), is capable of a special class of motions, namely, those produced with serial robots termed SCARA, an acronym for Selective-Compliance Assembly Robot Arm. These motions involve three independent translations and one rotation about an axis of fixed direction. Such motions are known to form a subgroup of the displacement group of rigid-body motions, termed the Schoenflies subgroup. The SMG is composed of two identical four-degree-of-freedom serial chains in a parallel array, sharing one common base and one common moving platform. The proximal module of each chain is active and has two controlled axes, the motors being installed on the fixed base. The links can thus be made light, thereby allowing for higher operational speeds. The distal module, in turn, is passive and follows the motions of its active counterpart, the whole mechanism giving, as a result, a four-degree-of-freedom motion to its end-platform.
Fichier principal
Vignette du fichier
paper_01_main_2.pdf (1.18 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-00463717 , version 1 (14-03-2010)

Identifiants

Citer

Jorge Angeles, Stéphane Caro, Waseem A. Khan, Alexis Morozov. Kinetostatic design of an innovative Schoenflies-motion generator. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2006, 220 (C7), pp.935-944. ⟨10.1243/09544062JMES258⟩. ⟨hal-00463717⟩
438 Consultations
782 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More