NDLI: Par4: very high speed parallel robot for pick-and-place

Content Provider	IEEE Xplore Digital Library
Author	Nabat, V. de la O. Rodriguez, M. Company, O. Krut, S. Pierrot, F.
Copyright Year	2005
Description	Author affiliation: Fundacion Fatronik, Elgoibar, Spain (Nabat, V.; de la O Rodriguez, M.)
Abstract	This paper introduces a four-degree-of-freedom parallel manipulator dedicated to pick-and-place. It has been developed with the goal of reaching very high speed. This paper shows that its architecture is particularly well adapted to high dynamics. Indeed, it is an evolution of Delta, H4 and 14 robots architectures: it keeps the advantages of these existing robots, while overcoming their drawbacks. In addition, an optimization method based on velocity using adept motion has been developed and applied to this high speed parallel robot. All these considerations led to experimentations that proved we can reach high accelerations (13 G) and obtain a cycle time of 0.28 s.
Starting Page	553
Ending Page	558
File Size	5865788
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545143
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Parallel robots Manipulators Service robots Acceleration Optimization methods Actuators Prototypes Robotic assembly Belts Pulleys Articulated traveling plate Schonflies Motion PKM pick-and-place
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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