HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Journal articles

PAMINSA: a New Family of Decoupled Parallel Manipulators

Abstract : In this paper, a new family of parallel manipulators called PAMINSA is presented. The particularity of these manipulators is the decoupling of the displacements of the platform in the horizontal plane from its translation along the vertical axis. Such a decoupling allows the cancellation of the loads of gravity on the actuators which displace the platform in the horizontal plane. Parallel mechanisms from 3 to 6 degrees of freedom based on this property are systematized and the advantages of each are presented. The classification, singularity analysis and input torques optimization are then discussed. A prototype of the proposed manipulator with four degrees of freedom and experimental validations of the suggested concept are also presented. All obtained numerical simulations are approved by experimental tests.
Complete list of metadata

Cited literature [27 references]  Display  Hide  Download

Contributor : Sébastien Briot Connect in order to contact the contributor
Submitted on : Monday, June 24, 2019 - 10:30:23 PM
Last modification on : Wednesday, April 27, 2022 - 4:44:52 AM


Files produced by the author(s)


  • HAL Id : hal-00362520, version 1


Sébastien Briot, Vigen Arakelian, Sylvain Guegan. PAMINSA: a New Family of Decoupled Parallel Manipulators. Mechanism and Machine Theory, Elsevier, 2009, 44 (2), pp.Vol. 44, No. 2. ⟨hal-00362520⟩



Record views


Files downloads