Polyarticulated Mechanical Structure for Decoupling the Position and Orientation of a Robot

Summary

In this paper we present a mechanical structure with revolute joints which can be used eventually on a robot and which allows the independent functioning of the positioning and the orientation of the terminal organ. It generalises the principle of the pantograph. First a three-bar system is proposed followed by the structure of the robot itself, replacing one of these bars, so we can consider just a two-bar system. An original guiding system is envisaged for these bars in the arm and we show that no guiding is necessary in the forearm. The problem of singular configurations is approached and some solutions are found for those which cause most problems.