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Design and Prototyping of New 4, 5 and 6 Degrees of Freedom Parallel Manipulators Based on the Copying Properties of the Pantograph Linkage

Abstract : In this paper, a new family of parallel manipulators called PAMINSA 1 is proposed. The particularity of these manipulators is the decoupling of displacements in the horizontal plane from its translation along the vertical axis. The advantages of such an approach are discussed, and a prototype is presented. The positioning errors of the moving platform taking into account the elasticity of links are determined and the performances of such a design are shown.
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https://hal.archives-ouvertes.fr/hal-00451948
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Submitted on : Monday, June 24, 2019 - 10:23:42 PM
Last modification on : Wednesday, April 27, 2022 - 3:42:55 AM

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  • HAL Id : hal-00451948, version 1

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Vigen Arakelian, Sébastien Briot, Sylvain Guegan, Jean Le Flecher. Design and Prototyping of New 4, 5 and 6 Degrees of Freedom Parallel Manipulators Based on the Copying Properties of the Pantograph Linkage. 36th International Symposium on Robotics, Nov 2005, Tokyo, Japan. ⟨hal-00451948⟩

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