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Research Papers

Pantopteron: A New Fully Decoupled 3DOF Translational Parallel Robot for Pick-and-Place Applications

[+] Author and Article Information
S. Briot

Department of Automated Manufacturing Engineering, École de Technologie Supérieure (ÉTS), Montreal, QC, H3C1K3, Canadasebastien.briot.1@ens.etsmtl.ca

I. A. Bonev

Department of Automated Manufacturing Engineering, École de Technologie Supérieure (ÉTS), Montreal, QC, H3C1K3, Canadailian.bonev@etsmtl.ca

J. Mechanisms Robotics 1(2), 021001 (Jan 06, 2009) (9 pages) doi:10.1115/1.3046125 History: Received June 16, 2008; Revised September 10, 2008; Published January 06, 2009

In this paper, a novel 3DOF fully decoupled translational parallel robot, called the Pantopteron, is presented. This manipulator is similar to the Tripteron Cartesian parallel manipulator, but due to the use of three pantograph linkages, an amplification of the actuator displacements is achieved. Therefore, equipped with the same actuators, the mobile platform of the Pantopteron moves many times faster than that of the Tripteron. This amplification is defined by the magnification factor of the pantograph linkages. The kinematics, workspace, and constraint singularities of the proposed parallel robot are studied in detail. Design considerations are also discussed, and a possible prototype is illustrated.

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Copyright © 2009 by American Society of Mechanical Engineers
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Figures

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Figure 1

Two versions of the Tripteron. (a) The directions of the actuators are orthogonal and (b) the directions of the actuators are parallel.

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Figure 2

Schematics of the Pantopteron

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Figure 3

Schematics of a leg of the Pantopteron

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Figure 4

Example of leg singularities

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Figure 5

Example of a constraint singularity

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Figure 6

Example of constraint singularity loci

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Figure 7

Displacement of Ci when αi is fixed

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Figure 8

Schematics of the vertex space of a leg from the Pantopteron: (a) planar projection of the vertex space, (b) the 3D vertex space of the leg, and (c) the 3D useful vertex space of the leg

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Figure 9

Workspace of the Pantopteron: (a) with relatively short legs and (b) with relatively long legs

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Figure 10

Singularity-free workspaces

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Figure 11

CAD view of the prototype of Pantopteron

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Figure 12

Pantopteron with 4DOF

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