A parallelogram-based 4 degrees-of-freedom parallel manipulator is presented in this paper. The manipulator can generate the so-called Schönflies 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 an improved stiffness to the manipulator. This 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, adding some considerations about its singularity-free design, and some technical applications in which the manipulator can be used are presented.
A Parallelogram-Based Parallel Manipulator for Schönflies Motion
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Salgado, O., Altuzarra, O., Amezua, E., and Hernández, A. (December 28, 2006). "A Parallelogram-Based Parallel Manipulator for Schönflies Motion." ASME. J. Mech. Des. December 2007; 129(12): 1243–1250. https://doi.org/10.1115/1.2779898
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