The Experts below are selected from a list of 48 Experts worldwide ranked by ideXlab platform

François Pierrot - One of the best experts on this subject based on the ideXlab platform.

  • A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability
    2014
    Co-Authors: Samah Aref Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot
    Abstract:

    The paper presents a novel 5 dofs (3T-2R) parallel mechanism. The mechanism is characterized by large singularity-free workspace and particularly large rotational capability which makes it suitable for 5 face-machining and similar applications. Having all its prismatic actuators along x Direction, the x-motion is independent from other dofs-only limited by prismatic actuators' strokes-constituting another major advantageous feature. Besides, an analytical Direct Geometric Model can be easily established which is a rare feature in parallel robots. The paper introduces the novel mechanism with its inverse and Direct Geometric Models as well as its kinematic Models (forward and inverse Jacobians). Also, it discusses its singularity analysis and presents sample workspace plots evaluated based on isotropic performance regarding velocity and static force.

  • ICRA - A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability
    2014 IEEE International Conference on Robotics and Automation (ICRA), 2014
    Co-Authors: Samah Aref Shayya, Sébastien Krut, Cédric Baradat, François Pierrot
    Abstract:

    The paper presents a novel 5 dofs (3T-2R) parallel mechanism. The mechanism is characterized by large singularity-free workspace and particularly large rotational capability which makes it suitable for 5 face-machining and similar applications. Having all its prismatic actuators along x Direction, the x-motion is independent from other dofs-only limited by prismatic actuators' strokes-constituting another major advantageous feature. Besides, an analytical Direct Geometric Model can be easily established which is a rare feature in parallel robots. The paper introduces the novel mechanism with its inverse and Direct Geometric Models as well as its kinematic Models (forward and inverse Jacobians). Also, it discusses its singularity analysis and presents sample workspace plots evaluated based on isotropic performance regarding velocity and static force.

Samah Aref Shayya - One of the best experts on this subject based on the ideXlab platform.

  • A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability
    2014
    Co-Authors: Samah Aref Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot
    Abstract:

    The paper presents a novel 5 dofs (3T-2R) parallel mechanism. The mechanism is characterized by large singularity-free workspace and particularly large rotational capability which makes it suitable for 5 face-machining and similar applications. Having all its prismatic actuators along x Direction, the x-motion is independent from other dofs-only limited by prismatic actuators' strokes-constituting another major advantageous feature. Besides, an analytical Direct Geometric Model can be easily established which is a rare feature in parallel robots. The paper introduces the novel mechanism with its inverse and Direct Geometric Models as well as its kinematic Models (forward and inverse Jacobians). Also, it discusses its singularity analysis and presents sample workspace plots evaluated based on isotropic performance regarding velocity and static force.

  • ICRA - A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability
    2014 IEEE International Conference on Robotics and Automation (ICRA), 2014
    Co-Authors: Samah Aref Shayya, Sébastien Krut, Cédric Baradat, François Pierrot
    Abstract:

    The paper presents a novel 5 dofs (3T-2R) parallel mechanism. The mechanism is characterized by large singularity-free workspace and particularly large rotational capability which makes it suitable for 5 face-machining and similar applications. Having all its prismatic actuators along x Direction, the x-motion is independent from other dofs-only limited by prismatic actuators' strokes-constituting another major advantageous feature. Besides, an analytical Direct Geometric Model can be easily established which is a rare feature in parallel robots. The paper introduces the novel mechanism with its inverse and Direct Geometric Models as well as its kinematic Models (forward and inverse Jacobians). Also, it discusses its singularity analysis and presents sample workspace plots evaluated based on isotropic performance regarding velocity and static force.

Cédric Baradat - One of the best experts on this subject based on the ideXlab platform.

  • A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability
    2014
    Co-Authors: Samah Aref Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot
    Abstract:

    The paper presents a novel 5 dofs (3T-2R) parallel mechanism. The mechanism is characterized by large singularity-free workspace and particularly large rotational capability which makes it suitable for 5 face-machining and similar applications. Having all its prismatic actuators along x Direction, the x-motion is independent from other dofs-only limited by prismatic actuators' strokes-constituting another major advantageous feature. Besides, an analytical Direct Geometric Model can be easily established which is a rare feature in parallel robots. The paper introduces the novel mechanism with its inverse and Direct Geometric Models as well as its kinematic Models (forward and inverse Jacobians). Also, it discusses its singularity analysis and presents sample workspace plots evaluated based on isotropic performance regarding velocity and static force.

  • ICRA - A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability
    2014 IEEE International Conference on Robotics and Automation (ICRA), 2014
    Co-Authors: Samah Aref Shayya, Sébastien Krut, Cédric Baradat, François Pierrot
    Abstract:

    The paper presents a novel 5 dofs (3T-2R) parallel mechanism. The mechanism is characterized by large singularity-free workspace and particularly large rotational capability which makes it suitable for 5 face-machining and similar applications. Having all its prismatic actuators along x Direction, the x-motion is independent from other dofs-only limited by prismatic actuators' strokes-constituting another major advantageous feature. Besides, an analytical Direct Geometric Model can be easily established which is a rare feature in parallel robots. The paper introduces the novel mechanism with its inverse and Direct Geometric Models as well as its kinematic Models (forward and inverse Jacobians). Also, it discusses its singularity analysis and presents sample workspace plots evaluated based on isotropic performance regarding velocity and static force.

Sébastien Krut - One of the best experts on this subject based on the ideXlab platform.

  • A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability
    2014
    Co-Authors: Samah Aref Shayya, Sébastien Krut, Olivier Company, Cédric Baradat, François Pierrot
    Abstract:

    The paper presents a novel 5 dofs (3T-2R) parallel mechanism. The mechanism is characterized by large singularity-free workspace and particularly large rotational capability which makes it suitable for 5 face-machining and similar applications. Having all its prismatic actuators along x Direction, the x-motion is independent from other dofs-only limited by prismatic actuators' strokes-constituting another major advantageous feature. Besides, an analytical Direct Geometric Model can be easily established which is a rare feature in parallel robots. The paper introduces the novel mechanism with its inverse and Direct Geometric Models as well as its kinematic Models (forward and inverse Jacobians). Also, it discusses its singularity analysis and presents sample workspace plots evaluated based on isotropic performance regarding velocity and static force.

  • ICRA - A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability
    2014 IEEE International Conference on Robotics and Automation (ICRA), 2014
    Co-Authors: Samah Aref Shayya, Sébastien Krut, Cédric Baradat, François Pierrot
    Abstract:

    The paper presents a novel 5 dofs (3T-2R) parallel mechanism. The mechanism is characterized by large singularity-free workspace and particularly large rotational capability which makes it suitable for 5 face-machining and similar applications. Having all its prismatic actuators along x Direction, the x-motion is independent from other dofs-only limited by prismatic actuators' strokes-constituting another major advantageous feature. Besides, an analytical Direct Geometric Model can be easily established which is a rare feature in parallel robots. The paper introduces the novel mechanism with its inverse and Direct Geometric Models as well as its kinematic Models (forward and inverse Jacobians). Also, it discusses its singularity analysis and presents sample workspace plots evaluated based on isotropic performance regarding velocity and static force.

E Dombre - One of the best experts on this subject based on the ideXlab platform.

  • chapter 3 Direct Geometric Model of serial robots
    Modeling Identification and Control of Robots, 2002
    Co-Authors: W Khalil, E Dombre
    Abstract:

    The design and control of a robot requires the computation of some mathematical Models such as: - transformation Models between the joint space (in which the configuration of the robot is defined) and the task space (in which the location of the end-effector is specified). These transformation Models are very important since robots are controlled in the joint space, whereas tasks are defined in the task space. Two classes of Models are considered:

  • Modeling, Identification and Control of Robots - Chapter 3 – Direct Geometric Model of serial robots
    Modeling Identification and Control of Robots, 2002
    Co-Authors: W Khalil, E Dombre
    Abstract:

    The design and control of a robot requires the computation of some mathematical Models such as: - transformation Models between the joint space (in which the configuration of the robot is defined) and the task space (in which the location of the end-effector is specified). These transformation Models are very important since robots are controlled in the joint space, whereas tasks are defined in the task space. Two classes of Models are considered:

  • Modeling, Identification and Control of Robots - Chapter 8 – Introduction to Geometric and kinematic Modeling of parallel robots
    Modeling Identification and Control of Robots, 2002
    Co-Authors: W Khalil, E Dombre
    Abstract:

    This chapter presents the Geometric and kinematic Models of Gough-Stewart structures, which are considered to be representative of parallel robots. It also highlights that the techniques developed for serial robots are often not appropriate and special approaches have to be used. The inverse Geometric Model (IGM) and inverse kinematic Model (IKM) are simple and straightforward to derive. On the contrary, the analytical Direct Geometric Model (DGM) is not easy to compute in the general case since 40 solutions are possible. It is observed that merging some of the connection points on the platform or the base or both, by groups of two or three, simplifies the closed-form solution of the problem and also reduces the maximum number of possible solutions. In addition, the numerical solution of the DGM can be used in most practical applications where only one real solution is required provided that a good initial location is available.