The Manta and the Kanuk: Novel 4-DOF Parallel Mechanisms for Industrial Handling.
Identifieur interne : 00AC17 ( Main/Exploration ); précédent : 00AC16; suivant : 00AC18The Manta and the Kanuk: Novel 4-DOF Parallel Mechanisms for Industrial Handling.
Auteurs : Luc Rolland [France]Source :
Descripteurs français
- mix :
- analyse des postures, assembly mode studies, conception, design, differential kinematics, direct kinematics, displacement analyses, geometric modelling, inverse kinematics, kanuk, manta, mobility, mobilité, modèles différentiels, modèles géométriques directs, modèles géométriques inverses, modélisation, parallel robot, robot parallèle, singularities., singularités, singularités., velocity analyses, étude cinématique, étude des déplacements.
Abstract
Two novel 4-DOF very fast parallel robot was designed. This paper introduces the new parallel mechanism designs which are named the Manta and the kanuk. In order to reduce manipulator overall costs, the actuator and encoder numbers are minimized to the exact effective degrees-of-freedoms (DOF) which is usually not the case in most parallel robot designs. The robots allow end-effector displacements along the three Cartesian translations and one platform transversal rotation. The two remaining rotations are blocked by the intrinsic mechanical structure including the rotation along the platform normal which is always limited in range. The main advantages are high stiffness through the multiple kinematic chain structure which allow for low mass designs. Moreover, it features simple mechanical construction. Thus, it shall be possible to achieve very high throughput since high accelerations are feasible. To circumvent the known workspace limitations, the actuators were selected to be prismatic along linear axes. The applications are automated warehouse manipulation, mediatheque manipulation, machine tool tool changers, loading and unloading. || Deux nouveaux robots rapides à 4 DDL ont été conçus. Cet article présente leurs concepts avec mécanismes parallèles pour la première fois et ils sont nommés Manta et Kanuk. Dans le but de réduire les coûts de réalisations de ces robots, il importe de teni
Url:
Affiliations:
- France
- Grand Est, Lorraine (région)
- Nancy
- Institut national polytechnique de Lorraine, Université Nancy 2, Université de Lorraine
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Le document en format XML
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studies</term><term>conception</term><term>design</term><term>differential kinematics</term><term>direct kinematics</term><term>displacement analyses</term><term>geometric modelling</term><term>inverse kinematics</term><term>kanuk</term><term>manta</term><term>mobility</term><term>mobilité</term><term>modèles différentiels</term><term>modèles géométriques directs</term><term>modèles géométriques inverses</term><term>modélisation</term><term>parallel robot</term><term>robot parallèle</term><term>singularities.</term><term>singularités</term><term>singularités.</term><term>velocity analyses</term><term>étude cinématique</term><term>étude des déplacements</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Two novel 4-DOF very fast parallel robot was designed. This paper introduces the new parallel mechanism designs which are named the Manta and the kanuk. In order to reduce manipulator overall costs, the actuator and encoder numbers are minimized to the exact effective degrees-of-freedoms (DOF) which is usually not the case in most parallel robot designs. The robots allow end-effector displacements along the three Cartesian translations and one platform transversal rotation. The two remaining rotations are blocked by the intrinsic mechanical structure including the rotation along the platform normal which is always limited in range. The main advantages are high stiffness through the multiple kinematic chain structure which allow for low mass designs. Moreover, it features simple mechanical construction. Thus, it shall be possible to achieve very high throughput since high accelerations are feasible. To circumvent the known workspace limitations, the actuators were selected to be prismatic along linear axes. The applications are automated warehouse manipulation, mediatheque manipulation, machine tool tool changers, loading and unloading. || Deux nouveaux robots rapides à 4 DDL ont été conçus. Cet article présente leurs concepts avec mécanismes parallèles pour la première fois et ils sont nommés Manta et Kanuk. Dans le but de réduire les coûts de réalisations de ces robots, il importe de teni</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Grand Est</li><li>Lorraine (région)</li></region><settlement><li>Nancy</li></settlement><orgName><li>Institut national polytechnique de Lorraine</li><li>Université Nancy 2</li><li>Université de Lorraine</li></orgName></list><tree><country name="France"><region name="Grand Est"><name sortKey="Rolland, Luc" sort="Rolland, Luc" uniqKey="Rolland L" first="Luc" last="Rolland">Luc Rolland</name></region></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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