Schoen flies Motion Generator: A New Non Redundant Parallel Manipulator with Unlimited Rotation Capability

A family of planar parallel manipulators

“…One drawback of this manipulator is that the link connecting the uppermost actuated arm and the manipulated platform is susceptible to torsion and bending. Spatial PKMs utilizing a common axis of rotation are proposed in [4] and [6]. The manipulator proposed in [6] and some of the variants proposed in [4] employ a crankshaft mechanism to achieve rotation of the manipulated platform.…”

“…The manipulator proposed in [6] and some of the variants proposed in [4] employ a crankshaft mechanism to achieve rotation of the manipulated platform. The manipulator described in [6] has the advantage that it can achieve continuous platform rotation without the use of redundant actuators. The manipulator in Fig.…”

“…The manipulator in Fig. 1(g) is a planar variant of the mechanisms proposed in [4] and [6]. The author has not previously encountered any manipulator of the type proposed in Fig.…”

A Novel Single-Loop Decoupled Schoenflies-Motion Generator: Concept and Kinematics Analysis

“…Parallel SMGs have been also proposed in the literature (see, for instance, [3][4][5][6][7][8][9][10][11]). Parallel architectures feature two rigid bodies, one fixed (base) and the other movable (platform), that are connected with one another by a number of kinematic chains (limbs).…”

“…Most of the parallel SMGs have four limbs (e.g., [4-6, 8, 11]) and one actuator per limb located on the base. Nevertheless, two-limbed symmetric (i.e., single-loop) architectures with serial [3] or hybrid [7,10] limbs have been proposed, too. Other parallel SMG are simply obtained by adding a double Cardan shaft (i.e., a limb of RUPUR 1 type), which connects the base to the platform, in a translational parallel manipulator.…”