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RESEARCH PAPERS

A Parallelogram-Based Parallel Manipulator for Schönflies Motion

[+] Author and Article Information
Oscar Salgado

Department of Mechanical Engineering, University of the Basque Country, Alameda de Urquijo s/n, Bilbao 48013, Spainoscar.salgado@ehu.es

Oscar Altuzarra

Department of Mechanical Engineering, University of the Basque Country, Alameda de Urquijo s/n, Bilbao 48013, Spainoscar.altuzarra@ehu.es

Enrique Amezua

Department of Mechanical Engineering, University of the Basque Country, Alameda de Urquijo s/n, Bilbao 48013, Spainenrique.amezua@ehu.es

Alfonso Hernández

Department of Mechanical Engineering, University of the Basque Country, Alameda de Urquijo s/n, Bilbao 48013, Spaina.hernandez@ehu.es

http://www.ehu.es/compmech/weḇresearch.html

J. Mech. Des 129(12), 1243-1250 (Dec 28, 2006) (8 pages) doi:10.1115/1.2779898 History: Received September 26, 2006; Revised December 28, 2006

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.

Copyright © 2007 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

4-DOF parallel manipulator for Schönflies motion

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Figure 2

P̱RPaR kinematic chain

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Figure 3

P̱RPaRR kinematic chain

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Figure 4

Reference frame (OUVW)12

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Figure 5

Reference frame (OUVW)3

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Figure 6

Reference frame (OUVW)4

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Figure 7

Reference frame (OUVW)P

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Figure 8

Front view of moving plane π12

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Figure 9

Front view of moving plane π3

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Figure 10

Front view of moving plane π4

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Figure 11

Inverse kinematic singularity (r4⊥i)

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Figure 12

Forward kinematic singularity (r1∥r2)

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Figure 15

Uncontrolled motion in the singular pose

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Figure 16

Singularity-free design of the parallel manipulator

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