NAVARO II, a novel scissor-based planar parallel robot*

[+] Author and Article Information
Damien Chablat

1 rue de la Noë École centrale de Nantes Nantes, 44321 France damien.chablat@cnrs.fr

Luc Rolland

University of the West of Scotland Paisley, Scotland QXJ2+6P United Kingdom luc.rolland@uws.ac.uk

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received October 9, 2018; final manuscript received March 27, 2019; published online xx xx, xxxx. Assoc. Editor: Pinhas Ben-Tzvi.

*The original version of this paper has been accepted for presentation at the ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, DETC2018-85949, August 26–29, 2018, Québec, Qc, Canada

ASME doi:10.1115/1.4043330 History: Received October 09, 2018; Accepted March 27, 2019


This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanism is an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the three legs is replaced by a scissor to obtain a larger working space and avoid the use of parallelograms to operate the second revolute joint. To obtain better spatial rigidity, the leg mechanism is constructed by placing the scissors in an orthogonal plane to the plane of the manipulator displacement (3-RRR or even the 3-RPR). This geometric property brings the significant consequence of allowing the scissors to directly substitute the prismatic chains in the 3-RPR and enjoy the same kinematics advantages for the overall robots as only one solution to the inverse kinematic model. From the Jacobian expression, surfaces of singularity can be calculated and presented in a compact form. The singularity equations are presented for a robot with a similar base and mobile platform. The properties of the scissors are then determined to have a prescribed regular workspace.

Copyright © 2019 by ASME
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