High-speed 2 dof PKM (ANR Objectif 100 G) Print
This project involved LIRMM, LAAS-CNRS in Toulouse, Adept-France in Annecy and Fatronik France in Montpellier.
We're aiming at designing both the mechanical structures and the control laws for high-speed parallel robots; we expect to reach performances ... beyond existing solutions (Delta robot, Quattro robot), that is to say to reach velocities over 10 m/s and acceleration over 200 m/s2 (20 g).
Our first result is the invention of Par2, a spatial PKM which makes only planar 2-dof motions which could be used for simple pick-and-place operations. The first prototype reached 12 m/s and 43 g.