IRSBOT-2: A Novel Two-Dof Parallel Robot for High-Speed Operations

This paper presents a novel two-degree-of-freedom (DOF) translational parallel robot for high-speed applications named the IRSBot-2 (acronym for IRCCyN Spatial Robot with 2 DOF). Unlike most two-DOF robots dedicated to planar translational motions, this robot has two spatial kinematic chains which confers a very good intrinsic stiffness. First, the robot architecture is described. Then, its actuation and constraint singularities are analyzed. Finally, the IRSBot-2 is compared to its two-DOF counterparts based on elastostatic performances.

Domaines

Génie mécanique [physics.class-ph] Génie mécanique [physics.class-ph]

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ASME_IDETC_2011_HAL.pdf (835.83 Ko)

Origine	Fichiers produits par l'(les) auteur(s)

Sébastien Briot : Connectez-vous pour contacter le contributeur

https://hal.science/hal-00590082

Soumis le : dimanche 3 février 2019-11:59:14

Dernière modification le : mardi 27 août 2024-12:49:55

Archivage à long terme le : samedi 4 mai 2019-12:25:12

Dates et versions

hal-00590082 , version 1 (03-02-2019)

Identifiants

HAL Id : hal-00590082 , version 1
DOI : 10.1115/DETC2011-47564

Citer

Coralie Germain, Sébastien Briot, Victor Glazunov, Stéphane Caro, Philippe Wenger. IRSBOT-2: A Novel Two-Dof Parallel Robot for High-Speed Operations. ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2011, Aug 2011, Washington, United States. ⟨10.1115/DETC2011-47564⟩. ⟨hal-00590082⟩

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