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A new high-speed 4-DOF parallel robot synthesis and modeling issues

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3 Author(s)
Company, O. ; Lab. d''Informatique Robotique et Microelectronique de Montpellier, France ; Marquet, F. ; Pierrot, F.

This paper presents a new family of fully-parallel robots producing motions of the Schoenflies displacements subgroup (three translations and one rotation about a given axis in world coordinates) for high-speed handling and machining. First, the structure's ability to provide this four-degrees-of-freedom motion is presented. Then, two of its possible designs are analyzed: the symmetrical and the asymmetrical one. Constructive designs are then presented. Some of the prototype's preliminary control results are given to prove the H4 robot's efficiency.

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Robotics and Automation, IEEE Transactions on  (Volume:19 ,  Issue: 3 )