Affiliation:
1. Department of Automated Manufacturing Engineering, École de Technologie Supérieure (ÉTS), Montreal, QC, H3C1K3, Canada
Abstract
In this paper, a novel 3DOF fully decoupled translational parallel robot, called the Pantopteron, is presented. This manipulator is similar to the Tripteron Cartesian parallel manipulator, but due to the use of three pantograph linkages, an amplification of the actuator displacements is achieved. Therefore, equipped with the same actuators, the mobile platform of the Pantopteron moves many times faster than that of the Tripteron. This amplification is defined by the magnification factor of the pantograph linkages. The kinematics, workspace, and constraint singularities of the proposed parallel robot are studied in detail. Design considerations are also discussed, and a possible prototype is illustrated.
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