Mathematical Modelling of 4 DOF Gantry Type Parallel Manipulator

Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany

Tagungsband: ISR/ROBOTIK 2010

Seiten: 6Sprache: EnglischTyp: PDF

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Zoltán, Forgó (Sapientia University, Târgu Mure?, Romania)

This paper will introduce two degrees of freedom gantry type mechanisms with parallel actuation. The combination of these mechanisms will lead to a manipulator which enables the Schönflies motion (SCARA type motion). The advantages of the newly obtained mechanism are underlined by mathematical modelling. The geometry and kinematic parameters are defined by the author and some numerical results are presented.