Self Motions of the Pantopteron

Sébastien Briot (1) , Ilian Bonev (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 GPA - Département de génie de la production automatisée

In this paper, the self motions of a novel 3-DOF fully de-coupled translational parallel robot, called the Pantopteron, are presented. The Pantopteron is similar to the well-known Car-tesian parallel manipulator (Tripteron), but due to the use of pantograph linkages, an amplification effect is achieved. Therefore, equipped with the same actuators, the mobile platform of the Pantopteron moves faster than that of the Trip-teron. This amplification is defined by the magnification factor of the pantograph linkages. The self motions are probably the most critical types of singularities a manipulator can meet. Therefore it is of utmost importance to have a good knowledge of them. Design considerations are also discussed in order to create Pantopterons without self motions.

Domaines: Génie mécanique [physics.class-ph]; Génie mécanique [physics.class-ph]

Sébastien Briot, Ilian Bonev. Self Motions of the Pantopteron. ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE, Aug 2009, San Diego, CA, United States. pp.633-638, ⟨10.1115/DETC2009-86213⟩. ⟨hal-00451901⟩