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A Gough–Stewart parallel manipulator with configurable platform and multiple end-effectors

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Abstract

This work describes a novel robot manipulator with configurable platform. Three internal degrees-of-freedom are added for controlling the relative orientation of the terminal links supporting multiple end-effectors of a Gough–Stewart-type parallel manipulator. The instantaneous forward and inverse kinematic analyses of the robot are derived using the theory of screws. Furthermore, the exploitation of this approach for deriving the acceleration analyses of a parallel manipulator with configurable platform is novel in this research field. As an intermediate step the forward and inverse displacement analyses are also investigated. A numerical example is compared with the outcome of a commercial software demonstrating the approach correctness.

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Acknowledgements

The author gratefully acknowledges with thanks the support of two Mexican Institutions: the National Council of Science and Technology (CONACYT) through the National Network of Researchers (SNI) fellowship (Grant Number 7903) and the Tecnológico Nacional de México (TecNM). On the other hand, thanks go to Jesus H. Tinajero-Campos for developing the solid model of the robot manipulator.

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  1. Department of Mechanical Engineering, Tecnológico Nacional de México en Celaya, Av. Tecnologico y A. Garcia Cubas, 38010, Celaya, Gto, Mexico

    Jaime Gallardo-Alvarado

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  1. Jaime Gallardo-Alvarado
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Correspondence to Jaime Gallardo-Alvarado.

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Gallardo-Alvarado, J. A Gough–Stewart parallel manipulator with configurable platform and multiple end-effectors. Meccanica 55, 597–613 (2020). https://doi.org/10.1007/s11012-020-01136-y

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