IRSBOT-2: A Novel Two-Dof Parallel Robot for High-Speed Operations
Overview & Synopsis
This paper presents a novel two-degree-of-freedom (DOF) translational parallel robot for high-speed applications named the IRSBot-2 (acronym for IRCCyN Spatial Robot with 2 DOF). Unlike most two-DOF robots dedicated to planar translational motions, this robot has two spatial kinematic chains which confers a very good intrinsic stiffness. First, the robot architecture is described. Then, its actuation and constraint singularities are analyzed. Finally, the IRSBot-2 is compared to its two-DOF counterparts based on elastostatic performances.
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hal.science)
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Document Information
| Document Title | IRSBOT-2: A Novel Two-Dof Parallel Robot for High-Speed Operations |
|---|---|
| Author / Organization | Coralie Germain, Sébastien Briot, Victor Glazunov, Stéphane Caro, Philippe Wenger |
| Subject & Discipline | Multidisciplinary Academic Open Research |
| Categories | Science & Mathematics |
| Publication Year | 2011 |
| License / Rights | Open Access / Creative Commons |
| Resource Verification | Listed PDF (Verification Pending) |
| Original Host Website |
HAL Open Science
(hal.science)
|
| File Format | application/pdf (Portable Document Format) |
| Language | EN |
| Catalog ID | DOC-172793 |
| Original Source Link | Visit Source Page on hal.science » |