A parallelogram-based four degrees-of-freedom parallel manipulator is presented in this paper. The manipulator can generate the so-called Scho¨nflies motion, that allows the end-effector to translate in all directions and rotate around an axis parallel to a fixed direction. The Theory of Group of Displacements is applied in the synthesis of this manipulator, which employs parallelograms in every limb. The planar parallelogram kinematic chain provides a high rotational capability and a improved stiffness to the manipulator. The paper shows the kinematic analysis of the manipulator, including the closed-form resolution of the forward and inverse position problems, the velocity and the singularity analysis. Finally, a prototype of the manipulator and some technical applications in which the manipulator can be used are presented.
- Design Engineering Division and Computers and Information in Engineering Division
A Parallelogram-Based Parallel Manipulator For Scho¨nflies Motion
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Salgado, O, Altuzarra, O, Amezua, E, & Herna´ndez, A. "A Parallelogram-Based Parallel Manipulator For Scho¨nflies Motion." Proceedings of the ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B. Philadelphia, Pennsylvania, USA. September 10–13, 2006. pp. 833-842. ASME. https://doi.org/10.1115/DETC2006-99197
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