Paper Info
Title
Dimensional synthesis of 4 DoFs (3T-1R) actuatedly redundant parallel manipulator based on dual criteria: Dynamics and precision
Abstract
This paper presents the dimensional synthesis of a 4 dofs (3T-1R) actuatedly redundant parallel manipulator (called ARROW V1) based on dual criteria related to rapidity and precision. The dynamical (rapidity) criterion is the worst isotropic linear acceleration starting from rest, and the precision related criterion is the worst translational resolution amplification factor. This latter amplification factor happens to be equal to the theoretical translational repeatability and accuracy amplification factors as well. Also, other kinetostatic and dynamic performances have been evaluated for the synthesized set of geometric parameters as to validate global performances. The results are quite interesting showing a highly performant parallel kinematic machine (PKM).
Year
DOI
Venue
2014
10.1109/IROS.2014.6942786
IROS
Keywords
DocType
ISSN
dimensional synthesis,theoretical translational repeatability,geometric parameters,dynamic performances,isotropic linear acceleration,translational resolution amplification factor,3T-1R,PKM,dual criteria,kinetostatic performances,accuracy amplification factors,acceleration control,manipulator kinematics,highly performant parallel kinematic machine,global performances,geometry,4 DoF actuatedly redundant parallel manipulator
Conference
2153-0858
Citations 
PageRank 
References 
1
0.37
8
Authors
5
Name
Order
Citations
PageRank
Samah Shayya181.66
Sébastien Krut214716.57
Olivier Company317827.03
Cédric Baradat4192.44
F. Pierrot547992.02