Technical Briefs

Parallel Manipulators With a Rotation-Symmetric Arm System

[+] Author and Article Information
Mats Isaksson

 Centre for Intelligent Systems Research, Deakin University, 75 Pigdons Road, Waurn Ponds VIC 3216, Australiamats.isaksson@gmail.com

Torgny Brogårdh

 ABB Robotics SE-72168 Västerås, Swedentorgny.brogardh@se.abb.com

Saeid Nahavandi

 Centre for Intelligent Systems Research, Deakin University, 75 Pigdons Road, Waurn Ponds VIC 3216, Australiasaeid.nahavandi@deakin.edu.au

J. Mech. Des 134(11), 114503 (Oct 03, 2012) (6 pages) doi:10.1115/1.4007305 History: Received October 03, 2011; Revised July 25, 2012; Published October 02, 2012; Online October 03, 2012

Parallel manipulators with a rotation-symmetric arm system possess all the typical advantages of parallel robots, such as high acceleration and high-accuracy positioning. Contrary to the majority of proposed parallel manipulators, the rotation-symmetric arm system leads to a large workspace in relation to the footprint of the manipulator. This paper focuses on a subclass of these manipulators with additional favorable qualities, including low inertia and high eigenfrequencies. These qualities are achieved using only 5-DOF lower arm links and by mounting all actuators on the nonmoving base column of the manipulator. The common feature of all previously proposed manipulators in this subclass is identified and several novel 3-DOF and 4-DOF members are introduced.

Copyright © 2012 by American Society of Mechanical Engineers
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Grahic Jump Location
Figure 1

The earliest SCARA-Tau manipulator. (a) illustrates the earliest SCARA-Tau manipulator proposed in Ref. [5] while (b) a common axis of rotation demonstrates a later variant proposed in Ref. [7].

Grahic Jump Location
Figure 2

Manipulators with a rotation-symmetric arm system. For all illustrated manipulators the roll and pitch angles of the manipulated platform remain constant in the entire workspace.

Grahic Jump Location
Figure 3

The bodies, joints, defined coordinate systems, and kinematic parameters for the manipulators in Figs.  22




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