Heli4: A Parallel Robot for Scara Motions with a Very Compact Traveling Plate and a Symmetrical Design
Heli4: A Parallel Robot for Scara Motions with a Very Compact Traveling Plate and a Symmetrical Design
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DOI：
10.1109/iros.2006.282120
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发表时间：
2006-10
期刊：
影响因子：
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通讯作者：
S. Krut;O. Company;V. Nabat;F. Pierrot
中科院分区：
文献类型：
--
作者：
S. Krut;O. Company;V. Nabat;F. Pierrot
介绍了一种新型四自由度并联机器人Heli4。它的灵感来自达美航空的建筑，但设计克服了它的局限性，使用了铰接式移动板。与大多数铰接式行车板不同，合力4‘S行车板非常紧凑。在其他积极的方面是它的对称设计。文中给出了几何模型，特别是可以闭合形式得到的前置位置关系。在第三部分中，通过考虑非经典的内部奇异性，对机器人奇异性进行了详细的研究
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