Heli4: A Parallel Robot for Scara Motions with a Very Compact Traveling Plate and a Symmetrical Design

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 posi...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Hauptverfasser:	Krut, S., Company, O., Nabat, V., Pierrot, F.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Aerospace simulation articulated traveling plate Automatic closed-form geometrical models Engineering Sciences Fasteners Hydraulic actuators Intelligent robots internal singularities Leg Parallel robots PKM (Parallel Kinematic Machines) Prototypes Robot kinematics Scara motions Solid modeling Testing
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

container_end_page	1661
container_issue
container_start_page	1656
container_title
container_volume
creator	Krut, S. Company, O. Nabat, V. Pierrot, F.
description	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
doi_str_mv	10.1109/IROS.2006.282120
format	Conference Proceeding
fullrecord	<record><control><sourceid>hal_6IE</sourceid><recordid>TN_cdi_ieee_primary_4058613</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>4058613</ieee_id><sourcerecordid>oai_HAL_lirmm_00106296v1</sourcerecordid><originalsourceid>FETCH-LOGICAL-c300t-641cb5cbfbb708a7f0c32d8bad7a06671d773401a47a028775e471379e7608613</originalsourceid><addsrcrecordid>eNpVj0trwkAURqcvqFj3hW5mX2LvvCfdiX0oWBS13YZJMtEpk0QmweK_b8Qi9G4u9_sOBy5C9wSGhED8NF3OV0MKIIdUU0LhAg1ipQmnnAMVsbhEPUoEi0BLefWv0_r63Al9iwZN8w3dsFhwonuomFjv-DMe4YUJxnvr8bJO6xYXdcCrrMvwR926umrwj2u32OAvGw54XJc7k7V4Hcy-E1QbvPCmtdhUeYesDmVp2-Ay4_GLbdymukM3hfGNHfztPvp8e12PJ9Fs_j4dj2ZRxgDaSHKSpSJLizRVoI0qIGM016nJlQEpFcmVYhyI4d1NtVLCckWYiq2S3e-E9dHjybs1PtkFV5pwSGrjkslolngXyjIBICBpLPdH-uFEO2vtGecgjir2C0S_aGk</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Heli4: A Parallel Robot for Scara Motions with a Very Compact Traveling Plate and a Symmetrical Design</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Krut, S. ; Company, O. ; Nabat, V. ; Pierrot, F.</creator><creatorcontrib>Krut, S. ; Company, O. ; Nabat, V. ; Pierrot, F.</creatorcontrib><description>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</description><identifier>ISSN: 2153-0858</identifier><identifier>ISBN: 9781424402588</identifier><identifier>ISBN: 1424402581</identifier><identifier>EISSN: 2153-0866</identifier><identifier>EISBN: 9781424402595</identifier><identifier>EISBN: 142440259X</identifier><identifier>DOI: 10.1109/IROS.2006.282120</identifier><language>eng</language><publisher>IEEE</publisher><subject>Aerospace simulation ; articulated traveling plate ; Automatic ; closed-form geometrical models ; Engineering Sciences ; Fasteners ; Hydraulic actuators ; Intelligent robots ; internal singularities ; Leg ; Parallel robots ; PKM (Parallel Kinematic Machines) ; Prototypes ; Robot kinematics ; Scara motions ; Solid modeling ; Testing</subject><ispartof>2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, p.1656-1661</ispartof><rights>Distributed under a Creative Commons Attribution 4.0 International License</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c300t-641cb5cbfbb708a7f0c32d8bad7a06671d773401a47a028775e471379e7608613</citedby><orcidid>0000-0002-6551-215X ; 0000-0002-9638-4357 ; 0000-0003-2396-8244</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/4058613$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>230,309,310,776,780,785,786,881,2052,27904,54898</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/4058613$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttps://hal-lirmm.ccsd.cnrs.fr/lirmm-00106296$$DView record in HAL$$Hfree_for_read</backlink></links><search><creatorcontrib>Krut, S.</creatorcontrib><creatorcontrib>Company, O.</creatorcontrib><creatorcontrib>Nabat, V.</creatorcontrib><creatorcontrib>Pierrot, F.</creatorcontrib><title>Heli4: A Parallel Robot for Scara Motions with a Very Compact Traveling Plate and a Symmetrical Design</title><title>2006 IEEE/RSJ International Conference on Intelligent Robots and Systems</title><addtitle>IROS</addtitle><description>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</description><subject>Aerospace simulation</subject><subject>articulated traveling plate</subject><subject>Automatic</subject><subject>closed-form geometrical models</subject><subject>Engineering Sciences</subject><subject>Fasteners</subject><subject>Hydraulic actuators</subject><subject>Intelligent robots</subject><subject>internal singularities</subject><subject>Leg</subject><subject>Parallel robots</subject><subject>PKM (Parallel Kinematic Machines)</subject><subject>Prototypes</subject><subject>Robot kinematics</subject><subject>Scara motions</subject><subject>Solid modeling</subject><subject>Testing</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>9781424402588</isbn><isbn>1424402581</isbn><isbn>9781424402595</isbn><isbn>142440259X</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2006</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVj0trwkAURqcvqFj3hW5mX2LvvCfdiX0oWBS13YZJMtEpk0QmweK_b8Qi9G4u9_sOBy5C9wSGhED8NF3OV0MKIIdUU0LhAg1ipQmnnAMVsbhEPUoEi0BLefWv0_r63Al9iwZN8w3dsFhwonuomFjv-DMe4YUJxnvr8bJO6xYXdcCrrMvwR926umrwj2u32OAvGw54XJc7k7V4Hcy-E1QbvPCmtdhUeYesDmVp2-Ay4_GLbdymukM3hfGNHfztPvp8e12PJ9Fs_j4dj2ZRxgDaSHKSpSJLizRVoI0qIGM016nJlQEpFcmVYhyI4d1NtVLCckWYiq2S3e-E9dHjybs1PtkFV5pwSGrjkslolngXyjIBICBpLPdH-uFEO2vtGecgjir2C0S_aGk</recordid><startdate>20060101</startdate><enddate>20060101</enddate><creator>Krut, S.</creator><creator>Company, O.</creator><creator>Nabat, V.</creator><creator>Pierrot, F.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>1XC</scope><scope>VOOES</scope><orcidid>https://orcid.org/0000-0002-6551-215X</orcidid><orcidid>https://orcid.org/0000-0002-9638-4357</orcidid><orcidid>https://orcid.org/0000-0003-2396-8244</orcidid></search><sort><creationdate>20060101</creationdate><title>Heli4: A Parallel Robot for Scara Motions with a Very Compact Traveling Plate and a Symmetrical Design</title><author>Krut, S. ; Company, O. ; Nabat, V. ; Pierrot, F.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c300t-641cb5cbfbb708a7f0c32d8bad7a06671d773401a47a028775e471379e7608613</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2006</creationdate><topic>Aerospace simulation</topic><topic>articulated traveling plate</topic><topic>Automatic</topic><topic>closed-form geometrical models</topic><topic>Engineering Sciences</topic><topic>Fasteners</topic><topic>Hydraulic actuators</topic><topic>Intelligent robots</topic><topic>internal singularities</topic><topic>Leg</topic><topic>Parallel robots</topic><topic>PKM (Parallel Kinematic Machines)</topic><topic>Prototypes</topic><topic>Robot kinematics</topic><topic>Scara motions</topic><topic>Solid modeling</topic><topic>Testing</topic><toplevel>online_resources</toplevel><creatorcontrib>Krut, S.</creatorcontrib><creatorcontrib>Company, O.</creatorcontrib><creatorcontrib>Nabat, V.</creatorcontrib><creatorcontrib>Pierrot, F.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Hyper Article en Ligne (HAL)</collection><collection>Hyper Article en Ligne (HAL) (Open Access)</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Krut, S.</au><au>Company, O.</au><au>Nabat, V.</au><au>Pierrot, F.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Heli4: A Parallel Robot for Scara Motions with a Very Compact Traveling Plate and a Symmetrical Design</atitle><btitle>2006 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2006-01-01</date><risdate>2006</risdate><spage>1656</spage><epage>1661</epage><pages>1656-1661</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>9781424402588</isbn><isbn>1424402581</isbn><eisbn>9781424402595</eisbn><eisbn>142440259X</eisbn><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</abstract><pub>IEEE</pub><doi>10.1109/IROS.2006.282120</doi><tpages>6</tpages><orcidid>https://orcid.org/0000-0002-6551-215X</orcidid><orcidid>https://orcid.org/0000-0002-9638-4357</orcidid><orcidid>https://orcid.org/0000-0003-2396-8244</orcidid><oa>free_for_read</oa></addata></record>
fulltext	fulltext_linktorsrc
identifier	ISSN: 2153-0858
ispartof	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, p.1656-1661
issn	2153-0858 2153-0866
language	eng
recordid	cdi_ieee_primary_4058613
source	IEEE Electronic Library (IEL) Conference Proceedings
subjects	Aerospace simulation articulated traveling plate Automatic closed-form geometrical models Engineering Sciences Fasteners Hydraulic actuators Intelligent robots internal singularities Leg Parallel robots PKM (Parallel Kinematic Machines) Prototypes Robot kinematics Scara motions Solid modeling Testing
title	Heli4: A Parallel Robot for Scara Motions with a Very Compact Traveling Plate and a Symmetrical Design
url	https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-28T01%3A11%3A16IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-hal_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Heli4:%20A%20Parallel%20Robot%20for%20Scara%20Motions%20with%20a%20Very%20Compact%20Traveling%20Plate%20and%20a%20Symmetrical%20Design&rft.btitle=2006%20IEEE/RSJ%20International%20Conference%20on%20Intelligent%20Robots%20and%20Systems&rft.au=Krut,%20S.&rft.date=2006-01-01&rft.spage=1656&rft.epage=1661&rft.pages=1656-1661&rft.issn=2153-0858&rft.eissn=2153-0866&rft.isbn=9781424402588&rft.isbn_list=1424402581&rft_id=info:doi/10.1109/IROS.2006.282120&rft_dat=%3Chal_6IE%3Eoai_HAL_lirmm_00106296v1%3C/hal_6IE%3E%3Curl%3E%3C/url%3E&rft.eisbn=9781424402595&rft.eisbn_list=142440259X&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=4058613&rfr_iscdi=true