Kinematic Analysis of a 3D Printable 4-DOF Desktop Robot Actuated Exclusively by Revolute Pairs

  • Fabio DallaLibera
  • Christian I. Penaloza
  • Yuichiro Yoshikawa
  • Hiroshi Ishiguro
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


This paper describes the kinematic structure of Yondy, a desktop robot with three rotational DOFs and one translational DOF. The kinematic structure comprises only rotational joints, easing its construction using off-the-shelf rotational actuators like servomotors. No pinion-rack or other mechanical elements are required for its construction, permitting its realization even with low-accuracy 3D printers. The robot is realized as a hybrid 4-DOF mechanism, with a planar 2-DOF parallel manipulator connected in series with other 2 DOFs. Particular focus is given to the parallel manipulator, which is interesting from a theoretical point of view because it is able to undergo nonsingular assembly mode transitions.


Parallel manipulator Nonsingular transitions Desktop robot 


  1. 1.
    Lipson, H., Kurman, M.: Fabricated: The new world of 3D printing. John Wiley & Sons (2013)Google Scholar
  2. 2.
    Xu, Z., Kolev, S., Todorov, E.: Design, optimization, calibration and a case study of a 3d-printed, low-cost fingertip sensor for robotic manipulation. In: 2014 IEEE Int. Conf. on Robotics and Automation (ICRA 2014), Hong Kong, China (2014)Google Scholar
  3. 3.
    Gonzalez-Gomez, J., Valero-Gomez, A., Prieto-Moreno, A., Abderrahim, M.: A new open source 3d-printable mobile robotic platform for education. In Rckert, U., Joaquin, S., Felix, W., eds.: Advances in Autonomous Mini Robots. Springer, Berlin Heidelberg (2012) 49–62Google Scholar
  4. 4.
    Lapeyre, M., Rouanet, P., Oudeyer, P.Y.: The Poppy Humanoid Robot: Leg Design for Biped Locomotion. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan (2013)Google Scholar
  5. 5.
    Malone, E., Berry, M., Lipson, H.: Freeform fabrication and characterization of zn-air batteries. Rapid Prototyping Journal 14 (2008) 128–140Google Scholar
  6. 6.
    Ogawa, K., Nishio, S., Koda, K., Taura, K., Minato, T., Ishii, C.T., Ishiguro, H.: Telenoid: tele-presence android for communication. In: ACM SIGGRAPH 2011 Emerging Technologies, ACM (2011) 15Google Scholar
  7. 7.
    McAree, P.R., Daniel, R.W.: An explanation of never-special assembly changing motions for 3–3 parallel manipulators. The International Journal of Robotics Research 18 (1999) 556–574Google Scholar
  8. 8.
    Bamberger, H., Wolf, A., Shoham, M.: Assembly mode changing in parallel mechanisms. IEEE Transactions on Robotics 24 (2008) 765–772Google Scholar
  9. 9.
    Macho, E., Altuzarra, O., Petuya, V., Hernandez, A.: Workspace enlargement merging assembly modes. Application to the 3-RRR planar platform. International Journal of Mechanics and Control 10 (2009) 13–20Google Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Fabio DallaLibera
    • 1
  • Christian I. Penaloza
    • 1
  • Yuichiro Yoshikawa
    • 1
  • Hiroshi Ishiguro
    • 1
  1. 1.Department of Systems Innovation, Graduate School of Engineering ScienceOsaka UniversityToyonakaJapan

Personalised recommendations