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 propose two ideas: (1) It might be indeed possible to obtain a 4-dof design which compares directly with commercially available Delta-based robots (e.g. the FlexPicker, an ABB Robotics equipment) in terms of technology, workspace, and performance while avoiding the RUPUR kinematic chain. (2) It might be possible to design a 5-dof machine with large tilting angle about two axes.
- On PKM with Articulated Travelling-Plate and Large Tilting Angles
- 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 parallèles
- IMEC'04: 11th International Machine-Tool Engineers Conference, pp.285-296
- IMEC'04: 11th International Machine-Tool Engineers Conference (Tokyo, Japan, 04/11/2004–05/11/2004)
- 9943677509311
- Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
- English
- Conference proceeding
- lirmm-00109130