6-DEGREES OF FREEDOM PARALLEL ROBOTS WITH C5 LINKS

被引：15
|
作者：
AMIRAT, Y
ARTIGUE, F
PONTNAU, J
机构：
[1] LIMRO, IUT de Cachan, 94230-Cachan, 9, avenue de la Division Leclerc
来源：
ROBOTICA | 1992年 / 10卷
关键词：
CLOSED CHAINS MECHANISM; PARALLEL ROBOT; ASSEMBLY TASK; LEFT-HAND DEVICE;
D O I：
10.1017/S0263574700007050
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents at first a static and kinematic analysis of closed chains mechanisms which permits to deduce different possible fully parallel architectures. Then we focus on a particular parallel architecture with C5 links designed to perform precise assembly tasks. A general modeling of this C5 parallel robot is presented. Two typical assembly tasks in the automotive industry are also proposed; the first one uses the C5 links parallel robot as a left-hand device, while the second one uses it as the terminal tool of a sequential manipulator.
引用
收藏
页码：35 / 44
页数：10
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