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
相关论文
共 50 条
  • [31] Identification of the dynamic parameters of the C5 parallel robot
    Achili, B.
    Daachi, B.
    Amirat, Y.
    All-Cherif, A.
    ICINCO 2008: PROCEEDINGS OF THE FIFTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-2: ROBOTICS AND AUTOMATION, VOL 2, 2008, : 67 - +
  • [32] PARALLEL FORMATION OF 5-MEMBER AND 6-MEMBER PARAFFIN RINGS (C5 AND C6-DEHYDROCYCLIZATION) ON PLATINIZED CHARCOAL
    KAZANSKII, BA
    LIBERMAN, AL
    LOZA, GV
    VASINA, TV
    DOKLADY AKADEMII NAUK SSSR, 1959, 128 (06): : 1188 - 1191
  • [33] ENGINE PARTS ASSEMBLY LINE ADOPTS ROBOTS WITH 6 DEGREES OF FREEDOM.
    Anon
    1988, : 12 - 13
  • [34] A motion base with 6 degrees of freedom by parallel cable drive architecture
    Tadokoro, S
    Murata, R
    Matsushima, T
    Murao, Y
    Kohkawa, H
    Hiller, M
    2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II, 2001, : 1193 - 1198
  • [35] Inverse dynamic analysis of parallel manipulators with 3 or 6 degrees of freedom
    Geike, T
    McPhee, J
    ROMANSY 14 - THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS, 2002, (438): : 49 - 58
  • [36] Constraint singularities of force transmission in nonredundant parallel robots with less than six degrees of freedom
    Zoppi, M
    Bruzzone, LE
    Molfino, RM
    Michelini, RC
    JOURNAL OF MECHANICAL DESIGN, 2003, 125 (03) : 557 - 563
  • [37] Design of Active Rods with Multiple Degrees of Freedom for Vibration Suppression in Parallel Robots for Handling and Assembly
    Keimer, R.
    Algermissen, S.
    Rose, M.
    ACTUATOR 10, CONFERENCE PROCEEDINGS, 2010, : 155 - 158
  • [38] C5 palsy after C5/6/7 posterior foraminal decompression A case report
    Oshina, Masahito
    Segawa, Tomohide
    Oshima, Yasushi
    Tanaka, Sakae
    Inanami, Hirohiko
    MEDICINE, 2020, 99 (03)
  • [39] 6 DEGREE-OF-FREEDOM SCANNING SUPPORTS AND MANIPULATORS BASED ON PARALLEL ROBOTS
    COMIN, F
    REVIEW OF SCIENTIFIC INSTRUMENTS, 1995, 66 (02): : 1665 - 1667
  • [40] A Position Control for a Parallel Stage with 6 Degrees of Freedom Using Magnetic Actuators
    Lee, Se-Han
    Lee, Ki-Chang
    Jeon, Jung-Woo
    Hwang, Don-Ha
    Kim, Yong-Joo
    IECON 2004: 30TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOL 3, 2004, : 2022 - 2027
12345