Paper Info
Title
Heli4: A Parallel Robot for Scara Motions with a Very Compact Traveling Plate and a Symmetrical Design.
Abstract
Abstract — This paper introduces Heli4 a new ,4 degree-of- freedom parallel robot. It is inspired by the Delta architecture, but was designed to overcome its limitations, using an articulated traveling plate. Unlike most articulated traveling plates, Heli4’s traveling plate is very compact. Among other positive aspects is its symmetrical design. This paper gives the geometrical models, and particularly the forward position relationship which can be obtained in a closed form. In a third part, a detailed study of the robot singularities is made by taking into account the not-so- classic internal singularities. Keywords — PKM (Parallel Kinematic Machines), articulated traveling plate, Scara motions, internal singularities, closed-form geometrical models.
Year
DOI
Venue
2006
10.1109/IROS.2006.282120
IROS
Keywords
Field
DocType
parallel robot,geometric model,degree of freedom,robot kinematics
Parallel manipulator,Computer science,Control theory,SCARA,Robot kinematics,Control engineering,Gravitational singularity,Robot,Articulated robot
Conference
ISBN
Citations 
PageRank 
1-4244-0259-X
2
0.41
References 
Authors
3
4
Name
Order
Citations
PageRank
Sébastien Krut114716.57
Olivier Company217827.03
Vincent Nabat3555.13
F. Pierrot447992.02