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Communication Dans Un Congrès Année : 2011

A New 3-DoF Planar Parallel Manipulator with Unlimited Rotation Capability

S. Jatsun
  • Fonction : Auteur
A. Jatsun
  • Fonction : Auteur

Résumé

Most of three-degree-of-freedom (3-DoF) planar parallel manipulators encountered today have a common disadvantage that is their low rotational capability. However, for many industrial applications, by example in automated assembly systems, cutting machines, simulators, or micro-motion manipulators, a high rotation capability is needed. To overcome such a difficulty, this paper focuses its attention on the proposal of a new 3-DoF planar parallel manipulator capable of high rotational capability. Firstly, structure and mobility of the suggested manipulator are discussed. Then the forward and inverse kinematic problems are analyzed, as well as it is disclosed its singular configurations. The shaking force and shaking moment balancing are also considered. The proposed design concept is illustrated by a driven demonstrator which is a first model of the suggested manipulator.
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Dates et versions

hal-00553092 , version 1 (25-06-2019)

Identifiants

  • HAL Id : hal-00553092 , version 1

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Vigen Arakelian, Sébastien Briot, S. Jatsun, A. Jatsun. A New 3-DoF Planar Parallel Manipulator with Unlimited Rotation Capability. 13th World Congress in Mechanism and Machine Science, Jun 2011, Guanajuato, Mexico. ⟨hal-00553092⟩
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