A Six-Dof Epicyclic-Parallel Manipulator

Chao Chen; Thibault Gayral; Stéphane Caro; Damien Chablat; Guillaume Moroz; Sajeeva Abeywardena

hal-00684803, version 1

A Six-Dof Epicyclic-Parallel Manipulator

Chao Chen () ¹, Thibault Gayral () ², Stéphane Caro ( Auteur à contacter de préférence ) ², Damien Chablat () ², Guillaume Moroz () ³, Sajeeva Abeywardena () ¹

ASME Journal of Mechanisms and Robotics (2012) XX-XX

Résumé : A new six-dof epicyclic-parallel manipulator with all actuators allocated on the ground is introduced. It is shown that the system has a considerably simple kinematics relationship, with the complete direct and inverse kinematics analysis provided. Further, the first and second links of each leg can be driven independently by two motors. The serial and parallel singularities of the system are determined, with an interesting feature of the system being that the parallel singularity is independent of the position of the end-effector. The workspace of the manipulator is also analyzed with future applications in haptics in mind.

1 : Monash University
Monash University
2 : Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN)
CNRS : UMR6597 – PRES Université Nantes Angers Le Mans [UNAM] – École Centrale de Nantes – École Nationale Supérieure des Mines - Nantes – Ecole Polytechnique de l'Université de Nantes
3 : VEGAS (INRIA Nancy - Grand Est / LORIA)
INRIA – CNRS : UMR7503 – Université de Lorraine

Collaboration : ISL-FAST Program 2011

hal-00684803, version 1
http://hal.archives-ouvertes.fr/hal-00684803
oai:hal.archives-ouvertes.fr:hal-00684803
Contributeur : Stéphane Caro <>
Soumis le : Mardi 3 Avril 2012, 11:15:43
Dernière modification le : Vendredi 26 Octobre 2012, 15:20:56

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