The Manta and the Kanuk: Novel 4-DOF Parallel Mechanisms for Industrial Handling.

Luc Rolland 1
1 POLKA - Polynomials, Combinatorics, Arithmetic
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
Abstract : Two novel 4-DOF very fast parallel robot was designed. This paper introduces the new parallel mechanism designs which are named the Manta and the kanuk. In order to reduce manipulator overall costs, the actuator and encoder numbers are minimized to the exact effective degrees-of-freedoms (DOF) which is usually not the case in most parallel robot designs. The robots allow end-effector displacements along the three Cartesian translations and one platform transversal rotation. The two remaining rotations are blocked by the intrinsic mechanical structure including the rotation along the platform normal which is always limited in range. The main advantages are high stiffness through the multiple kinematic chain structure which allow for low mass designs. Moreover, it features simple mechanical construction. Thus, it shall be possible to achieve very high throughput since high accelerations are feasible. To circumvent the known workspace limitations, the actuators were selected to be prismatic along linear axes. The applications are automated warehouse manipulation, mediatheque manipulation, machine tool tool changers, loading and unloading. || Deux nouveaux robots rapides à 4 DDL ont été conçus. Cet article présente leurs concepts avec mécanismes parallèles pour la première fois et ils sont nommés Manta et Kanuk. Dans le but de réduire les coûts de réalisations de ces robots, il importe de teni
Type de document :
Communication dans un congrès
Nejat Olgac, Dynamics Systems & Control Division. International Mechanical Engineering Congress & Exposition, 1999, Nashville, USA, ASME, 67, pp.831-844, 1999
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Soumis le : mardi 26 septembre 2006 - 08:40:17
Dernière modification le : jeudi 11 janvier 2018 - 06:19:48

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  • HAL Id : inria-00098914, version 1

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Luc Rolland. The Manta and the Kanuk: Novel 4-DOF Parallel Mechanisms for Industrial Handling.. Nejat Olgac, Dynamics Systems & Control Division. International Mechanical Engineering Congress & Exposition, 1999, Nashville, USA, ASME, 67, pp.831-844, 1999. 〈inria-00098914〉

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