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Kinematics and synthesis of cams-coupled parallel robots

Jean-Pierre Merlet 1
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
Abstract : We consider parallel robots, that will be called cams-coupled parallel robots, whose mobile platform has surfaces that are constrained to be in contact at a point with surfaces located on the base. Articulated passive xed length legs connect also the base to the platform while active legs allow to control the motion of the platform. We investigate the mobility of such robot and shows how the inverse and direct kinematics can be solved for arbitrary contact surfaces. We present then preliminary results regarding the synthesis of such robot.
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Submitted on : Friday, September 2, 2005 - 9:57:10 AM
Last modification on : Friday, February 4, 2022 - 3:12:28 AM
Long-term archiving on: : Thursday, April 1, 2010 - 8:41:58 PM


  • HAL Id : inria-00000194, version 1



Jean-Pierre Merlet. Kinematics and synthesis of cams-coupled parallel robots. International Workshop on Computational Kinematics, May 2005, Cassino. ⟨inria-00000194⟩



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