This paper discusses some ways to achieve large tilting motions with PKM by resorting to articulated travelling plate. Different known options are firstly presented: remote actuation, hybrid architectures, redundancy, rotation amplification, and translation-to-rotation transformation. Starting from two of those features, the aim of this paper is to go one step further and to analyse various ways to obtain 4-dof robots which compare directly with commercially available Delta-like robots in terms of technology, workspace, and performance while avoiding the central, telescopic, RUPUR kinematic chain.
- Four-Dof PKM with Articulated Travelling-Plate
- Francois PIERROT - Université de Montpellier, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMMOlivier Company - Robotique médicale et mécanismes parallèlesSébastien Krut - Robotique médicale et mécanismes parallèlesVincent Nabat - Université de Montpellier, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
- PKS'06: Parallel Kinematics Seminar, pp.25-26
- PKS'06: Parallel Kinematics Seminar (Chemnitz (Allemagne), 25/04/2006–26/04/2006)
- 9943837709311
- Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
- English
- Conference proceeding
- lirmm-00105558