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A symmetric parallel Schönflies-motion manipulator for pick-and-place operations

Published online by Cambridge University Press:  25 February 2011

O. Altuzarra ,
B. Şandru ,
Ch. Pinto  and
V. Petuya
O. Altuzarra
Affiliation:
Mechanical Engineering Department, University of the Basque Country UPV/EHU, Alameda de Urquijo s/n 48013 Bilbao, Spain
B. Şandru
Affiliation:
Mechanical Engineering Department, University of the Basque Country UPV/EHU, Alameda de Urquijo s/n 48013 Bilbao, Spain
Ch. Pinto
Affiliation:
Mechanical Engineering Department, University of the Basque Country UPV/EHU, Alameda de Urquijo s/n 48013 Bilbao, Spain
V. Petuya*
Affiliation:
Mechanical Engineering Department, University of the Basque Country UPV/EHU, Alameda de Urquijo s/n 48013 Bilbao, Spain
*
*Corresponding author. E-mail: victor.petuya@ehu.es
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Summary

This paper presents a new symmetric parallel Schönflies-motion generator. The design is an evolution of a previous robot with linear inputs. The complete kinematic analysis of the 4-degree-of-freedom (dof) parallel manipulator is presented. The degrees of freedom are obtained from the Group Theory, the direct and inverse position problems are solved obtaining the manipulator's workspace, and the Jacobian analysis is presented. Then the isotropic configurations of the manipulator are discussed and the local dexterity map within the workspace is produced. Finally, two alternatives of a rotational mechanical device, which will increase the angular end-effector range, are proposed.

Keywords

Lower-mobility parallel manipulatorGroups of displacementsKinematic analysisWorkspaceDexterity
Type
Articles
Information
Robotica , Volume 29 , Issue 6 , October 2011 , pp. 853 - 862
Copyright
Copyright © Cambridge University Press 2011

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