E-033
H4: a new family of 4-dof parallel robots.
Authors: François Pierrot, Olivier Company
Affiliation: LIRMM - UMR 5506 CNRS / U.M. 2, 161, rue Ada, 34392 Montpellier CEDEX
5, France
Abstract
This paper presents a new family of fully-parallel robots providing 3 translations
and 1 rotation about a given axis. Such machines are aimed to use in robotics or
machining. The ability of the proposed structure to provide the needed dof is first
proved. Position and velocity relationships are given. Finally, constructive designs
are presented that show the effectiveness of the solution with either linear or rotational
actuators; symmetrical and asymmetrical designs show that the H4 principle can be
the base of a complete family of machines.
Dr. Francois PIERROT
LIRMM - Robotics Department - 161 rue Ada
34392 Montpellier Cedex 5, France
Phone: (33) (0)4 67 41 86 04
Fax: (33) (0)4 67 41 85 00
pierrot@lirmm.fr