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Six degrees of freedom parallel robots with C5 links

Published online by Cambridge University Press:  09 March 2009

Y. Amirat,
F. Artigue and
J. Pontnau
Y. Amirat
Affiliation:
LIMRO, IUT de Cachan, 9, avenue de la Division Leclerc, 94230 – Cachan, (France)
F. Artigue
Affiliation:
LIMRO, IUT de Cachan, 9, avenue de la Division Leclerc, 94230 – Cachan, (France)
J. Pontnau
Affiliation:
LIMRO, IUT de Cachan, 9, avenue de la Division Leclerc, 94230 – Cachan, (France)
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Summary

This 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.

Keywords

Closed chains mechanismparallel robotassembly taskleft-hand device

Information

Type
Article
Information
Robotica , Volume 10 , Issue 1 , January 1992, pp. 35 - 44
Copyright
Copyright © Cambridge University Press 1992

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References

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