This paper introduces a novel parallel mechanism having Schönflies motion. The mechanism consists of only two RRPaR-type limbs. After a short description of its structure, its position analysis is conducted and its screw-based kinematic model is derived. Next, its singularity analysis is performed via Grassmann line geometry and then its optimal kinematic characteristics are examined with respect to workspace size and isotropy property. The results show that the proposed parallel mechanism has a very high potential to be used as a manipulator or a haptic device. A prototype of this mechanism was developed and tested to corroborate its performance.
In performing tasks requiring less than 6 degrees-of-freedom (DOF), lower mobility robots having a parallel structure are effective. This work investigates an asymmetric type 4 degrees-of-freedom parallel mechanism having Schö nflies motions. This mechanism would be useful for multi-purpose tasks because it incorporates a transmission linkage with appropriate output modules. The mobility analysis, kinematic modelling, and singularity analysis for the mechanism are performed. Optimal design parameters with respect to both the workspace size and kinematic isotropy are identified by employing composite global design index. In addition, to cope with the singularity problem, a new design involving redundant actuation is suggested. And dynamic simulations are conducted to reaffirm its high potential in real manufacturing applications.
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