IRSBOT-2: A Novel Two-Dof Parallel Robot for High-Speed Operations

Coralie Germain (1) , Sébastien Briot (1) , Victor Glazunov , Stéphane Caro (2, 3, 4) , Philippe Wenger (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 CNRS - Centre National de la Recherche Scientifique
3 LS2N - Laboratoire des Sciences du Numérique de Nantes
4 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services

This paper presents a novel two-degree-of-freedom (DOF) translational parallel robot for high-speed applications named the IRSBot-2 (acronym for IRCCyN Spatial Robot with 2 DOF). Unlike most two-DOF robots dedicated to planar translational motions, this robot has two spatial kinematic chains which confers a very good intrinsic stiffness. First, the robot architecture is described. Then, its actuation and constraint singularities are analyzed. Finally, the IRSBot-2 is compared to its two-DOF counterparts based on elastostatic performances.

Domaines: Génie mécanique [physics.class-ph]; Génie mécanique [physics.class-ph]

Coralie Germain, Sébastien Briot, Victor Glazunov, Stéphane Caro, Philippe Wenger. IRSBOT-2: A Novel Two-Dof Parallel Robot for High-Speed Operations. ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2011, Aug 2011, Washington, United States. ⟨10.1115/DETC2011-47564⟩. ⟨hal-00590082⟩