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Control of a 3-DOF Over-Actuated Parallel Mechansim

[+] Author Affiliations
Frédéric Marquet, Olivier Company, Sébastian Krut, Olivier Gascuel, François Pierrot

LIRMM-UMR, Montpellier Cedex, France

Paper No. DETC2002/MECH-34343, pp. 1185-1191; 7 pages
  • ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 27th Biennial Mechanisms and Robotics Conference
  • Montreal, Quebec, Canada, September 29–October 2, 2002
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 0-7918-3625-3 | eISBN: 0-7918-3603-7
  • Copyright © 2002 by ASME


This paper presents the control of ARCHI, a 3-dof over-actuated parallel mechanism, designed as a subpart of a 5-axis hybrid machining robot. Control strategies of the parallel sub-mechanism (3 dof / 4 actuators) managing the internal constraint on the mechanism are proposed and experimental results are discussed.

Copyright © 2002 by ASME



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