Parallel Robots by Jean-Pierre Merlet (auth.)

By Jean-Pierre Merlet (auth.)

Parallel robots are closed-loop mechanisms offering excellent performances when it comes to accuracy, pressure and talent to govern huge so much. Parallel robots were utilized in loads of functions starting from astronomy to flight simulators and have gotten more and more renowned within the box of machine-tool undefined. This publication offers a whole synthesis of the most recent effects at the attainable mechanical architectures, research and synthesis of this kind of mechanism. it's meant for use by way of scholars (with over a hundred routines and various web addresses), researchers (with over 500 references and nameless ftp entry to the code of a few algorithms provided during this booklet) and engineers (for which useful effects and functions are presented).

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Parallel Robots

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On the right a cylindrical robot suggested by Reboulet (from Reboulet (460ยป. Although it is outside the purpose of this book, the Landsberger mechanism is worth mentioning (296; 298). 20). This type of robot is light but it is difficult to maintain tension in the wires. 20). This robot was studied for NASA and by Hertz (207) and Reinholtz (462). CHAPTER 2 34 With these complex manipulators it is often difficult to determine the degrees of freedom of the platform. In order to solve this problem, Huang (219; 220) suggests a screw-based method that he applied to the robot mentioned by Lee and to spherical ones.

We assume that R, P, 5 types of joints are used. 6), with constraints on the positions of the joint axes. 6. RPRS PRRS {D} motions group generators using joints of the R, P, 5 type. The RRPS type is constituted of an universal joint, followed by a prismatic joint which is itself followed by a ball-and-socket joint. The RP RS type is made of a revolute joint on whose axis a prismatic joint is set, followed by a revolute joint, itself followed by the ball-and-socket joint. The P RRS generator is composed of a prismatic joint followed by an universal joint at which end is a ball-and-socket joint.

Its nominal load is 6 kg, for a speed of 1 m/s. This manipulator workspace is rather large due to the size of the manipulator (about twice the size of a man). It is noteworthy that in 1994 the Comau company suggested the Tricept HPJ, a robot based on the same principle which was studied by Siciliano (495). This robot is now sold by Neos Robotics 5 and Siemens6 as the Tricept 600 and 805. A similar machine, the MultiCrajt 560, is also sold by MultiCraft. Note that instead of using links with varying length in the Neumann mechanism it is possible to use fixed length links with ends close to the base are moving on a curve.

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