Abstract
Schoenflies-motion generators (SMGs) are 4-degrees-of-freedom (dof) manipulators whose end effector can perform translations along three independent directions and rotations around one fixed direction (Schoenflies motions). Such motions constitute the 4-dimensional (4-D) Schoenflies subgroup of the 6-D displacement group. The most known SMGs are the serial robots named SCARA. Pick-and-place tasks are typical industrial applications that can be accomplished by SMGs. Over the SCARA, lower-mobility parallel manipulators (PMs) have been proposed as SMGs. Here, a novel type of SMG with parallel architecture is presented together with its kinematics analysis. The proposed SMG has a single-loop not-overconstrained architecture, actuators on or near the base and decoupled kinematics.
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Notes
- 1.
Hereafter, R, P, U, S, and C stand for revolute pair, prismatic pair, universal joint, spherical pair, and cylindrical pair respectively. The underlining indicates the actuated joints and the sequence of joint types, which are encountered by moving from the base to the platform on a limb, is given with a string of capital letters.
- 2.
It is worth reminding that serial singularities lie on (and identify) the workspace boundary.
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Acknowledgments
This work has been developed at the Laboratory of Advanced Mechanics (MECH-LAV) of Ferrara Technopole, supported by FIR2016 funds and by Regione Emilia Romagna (District Councillorship for Productive Assets, Economic Development, Telematic Plan) POR-FESR 2007-2013¢, Attività I.1.1
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Di Gregorio, R. (2018). A Novel Single-Loop Decoupled Schoenflies-Motion Generator: Concept and Kinematics Analysis. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_2
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DOI: https://doi.org/10.1007/978-3-319-61276-8_2
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