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IRSBot-2: A Novel Two-DOF Parallel Robot for High-Speed Operations

[+] Author Affiliations
Coralie Germain, Sébastien Briot, Stéphane Caro, Philippe Wenger

Institut de Recherche en Communications et Cybernétique de Nantes, Nantes, France

Victor Glazunov

Russian Academy of Sciences, Moscow, Russia

Paper No. DETC2011-47564, pp. 899-909; 11 pages
doi:10.1115/DETC2011-47564
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME

abstract

This paper presents a novel two-degree-of-freedom (DOF) translational parallel robot for high-speed applications named the IRSBot-2 (acronym for IR CCyN S patial Robot with 2 DOF). Unlike most two-DOF robots dedicated to planar translational motions, this robot has two spatial kinematic chains which confers a very good intrinsic stiffness. First, the robot architecture is described. Then, its actuation and constraint singularities are analyzed. Finally, the IRSBot-2 is compared to its two-DOF counterparts based on elastostatic performances.

Copyright © 2011 by ASME
Topics: Robots

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