Author:
Amirat Y.,Artigue F.,Pontnau J.
Abstract
SummaryThis paper presents at first a static and kinematic analysis of closed chains mechanisms which permits to deduce different possible fully parallel architectures. Then we focus on a particular parallel architecture with C5 links designed to perform precise assembly tasks. A general modeling of this C5 parallel robot is presented. Two typical assembly tasks in the automotive industry are also proposed; the first one uses the C5 links parallel robot as a left-hand device, while the second one uses it as the terminal tool of a sequential manipulator.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference9 articles.
1. A Stewart Platform- Based Manipulator: General Theory and Practical Construction
2. 7. Inoue H. , Tsusaka Y. & Fukuismi T. , “Parallel manipulator” 3rd ISRR, Gouvieux, France (7–11 10 1985) pp. 69–75.
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