Design and Prototyping of New 4, 5 and 6 Degrees of Freedom Parallel Manipulators Based on the Copying Properties of the Pantograph Linkage

Vigen Arakelian (1) , Sébastien Briot (2) , Sylvain Guegan (3) , Jean Le Flecher

1 DGMA - Département de Génie Mécanique et Automatique
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
3 LGCGM - Laboratoire de Génie Civil et Génie Mécanique

In this paper, a new family of parallel manipulators called PAMINSA 1 is proposed. The particularity of these manipulators is the decoupling of displacements in the horizontal plane from its translation along the vertical axis. The advantages of such an approach are discussed, and a prototype is presented. The positioning errors of the moving platform taking into account the elasticity of links are determined and the performances of such a design are shown.

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

Vigen Arakelian, Sébastien Briot, Sylvain Guegan, Jean Le Flecher. Design and Prototyping of New 4, 5 and 6 Degrees of Freedom Parallel Manipulators Based on the Copying Properties of the Pantograph Linkage. 36th International Symposium on Robotics, Nov 2005, Tokyo, Japan. ⟨hal-00451948⟩