IEEE - Institute of Electrical and Electronics Engineers, Inc. - A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Samah Shayya ; Sebastien Krut ; Olivier Company ; Cedric Baradat ; Francois Pierrot
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 436 - 443
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696388
Regular:

This paper presents a novel 4 dofs (3T-1R(1)) parallel redundant mechanism, with its complete study regarding inverse and direct geometric models (IGM and DGM), as well as singularity... View More

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