HEXA: a fast six-DOF fully-parallel robot

Pierrot, François; Dauchez, P.; Fournier, Alain

doi:10.1109/icar.1991.240399

Cited by 65 publications

(25 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The design parameters of the mechanism were optimized while reducing the inertia of the top plate. In experiments, the encoders computed that "NINJA" can accelerate to ≥100 G. The mechanisms of "DELTA" [3] and "HEXA" [4] were based on similar concepts. Later, Nagai et al [5] introduced a high-speed parallel mechanism for electronic part mounters, known as "the constrained differential drive mechanism" (CDDM).…”

Section: Introductionmentioning

confidence: 99%

Kinematical and static force analysis on redundant drive wire mechanism with velocity constraint modules to reduce the number of actuators

Dobashi

Nagai

2016

Robomech J

View full text Add to dashboard Cite

This study proposes new wire mechanism called "the redundant drive wire mechanism" (RDWM), driven by double actuator modules. The RDWM is configured with velocity constraint modules (VCMs) that provide high-acceleration global and fine local motions. Suitable RDWM candidates are found by combining the kinematic analysis with static force analysis. The study also clarifies the role of VCMs in reducing the required number of actuators while keeping the orientation of the top plate. We propose a judgment procedure with three steps: a static force analysis in the whole motion space, a kinematic analysis that finds the active constraint space wherein the top plate can produce velocity and a static force analysis in this active constraint space. The proposed judgment procedure and the role of VCMs are validated by examples.

show abstract

Section: Introductionmentioning

confidence: 99%

Kinematical and static force analysis on redundant drive wire mechanism with velocity constraint modules to reduce the number of actuators

Dobashi

Nagai

2016

Robomech J

View full text Add to dashboard Cite

show abstract

“…The table second section comprises FKP solving results about the hexapod obtained with the Dietmaier's method, [Dietmaier 1998], the Hexa and the Hexaglide with a SSM type mobile platform. In all instances, the Hexa, [Pierrot et al 1991], and Hexaglide, [Hebsacker 1998] can feature either 36 or 40 complex solutions, this only depends on the mobile platform configuration. In fact, when the truncated equilateral triangle is used, then the FKP yield 36 solutions.…”

Section: Discussion On the Resultsmentioning

confidence: 99%

Certified Solving and Synthesis on Modeling of the Kinematics. Problems of Gough-Type Parallel Manipulators with an Exact Algebraic Method

Rolland¹

2008

Parallel Manipulators, Towards New Applications

View full text Add to dashboard Cite

“…However, the invention and application of Delta robot [9] modify the people's conventional comprehension on general PKMs and it may be a breakthrough of the high-speed limited-DOF PKMs. The application of the light-weight and slender limbs in Delta robot gain the high velocity and acceleration of the end-effector, which can be applied in the production line of Pick-and-Place and advances the production efficiency availably, and then the more important thing is that the supply of creative ideas for some similar mechanisms such as HEXA robot [10], UWA Delta robot [11], Deltabot [12−13], and Diamond [14−15].…”

Section: Introductionmentioning

confidence: 99%

Kineto-static analysis of a novel high-speed parallel manipulator with rigid-flexible coupled links

Sun

Song

Yan

2011

J. Cent. South Univ. Technol.

View full text Add to dashboard Cite

A novel high-speed parallel kinematic machine (PKM) named Delta-S parallel manipulator is proposed, which consists of a fixed base connected to a moving platform through three limbs with identical topology. Each limb is composed of one driving arm and one follower arm, herein, the latter includes two strings and one middle rod, all located in a same plane. Compared with similar manipulators with uniform parameters, the novel and unique topology as well as the addition of two strings of Delta-S manipulator can remove the clearance of the spherical joints, reduce the inertial load of components further, improve the positioning accuracy and dynamic performance, and so on. In order to formulate the kineto-static model of Delta-S manipulator, the kineto-static analyses and models of the driving arm, the generalized follower and the moving platform can be carried out by the D'ALEMBERT principle. For the sake of obtaining the force analytic results of strings, the deformation compatibility condition of strings and the middle rod are determined. Furthermore, in virtue of the assumption of small deformation and the linear superposition principle, the minimal pre-tightening force of the strings is calculated. The main results include that the loads of the strings and the middle rod must be larger than "zero" and the pre-tightening force over the workspace must be larger than the minimal pre-tightening force at any time within the workspace, which lay the foundation for the dynamic analysis and the prototype manufacture of the Delta-S manipulator.

show abstract

HEXA: a fast six-DOF fully-parallel robot

Cited by 65 publications

References 5 publications

Kinematical and static force analysis on redundant drive wire mechanism with velocity constraint modules to reduce the number of actuators

Kinematical and static force analysis on redundant drive wire mechanism with velocity constraint modules to reduce the number of actuators

Certified Solving and Synthesis on Modeling of the Kinematics. Problems of Gough-Type Parallel Manipulators with an Exact Algebraic Method

Kineto-static analysis of a novel high-speed parallel manipulator with rigid-flexible coupled links

Contact Info

Product

Resources

About