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Communication Dans Un Congrès Année : 2015

Type Synthesis of Two DOF Hybrid Translational Parallel Manipulators

Résumé

This paper introduces a methodology for the type synthesis of two degree-of-freedom hybrid translational manipulators with identical legs. The type synthesis method is based upon the screw theory. Three types of two degree-of-freedom hybrid translational manipulators with identical legs are identified based upon their wrench decomposition. Each leg of the manipulators is composed of a proximal module and a distal module mounted in series. The assembly conditions and the validity of the actuation scheme are also defined. Eventually, some novel two degree-of-freedom hybrid translational manipulators are synthesized with the proposed procedure. Introduction.
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Dates et versions

hal-02947200 , version 1 (23-09-2020)

Identifiants

  • HAL Id : hal-02947200 , version 1

Citer

Latifah Nurahmi, Stéphane Caro, Sébastien Briot. Type Synthesis of Two DOF Hybrid Translational Parallel Manipulators. The 2nd International Conference on Mechanical Engineering (ICOME 2015), Sep 2015, Patra Jasa, Bali, Indonesia. ⟨hal-02947200⟩
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