11.04.2018
Translational Parallel Manipulators (TPM) have platforms that are constrained to not rotate and have high speeds and accuracies, making them useful for 3d printing, manufacturing, assembly and logistic applications. However, the structure of parallel mechanisms results in all arms connecting to a single platform which greatly reduces the workspace of the mechanism.
A novel TPM is proposed which uses scissor mechanism in the arms as a means to increase the size of the workspace and at the same time achieve translational motion with a design that allows for any base shape and size. The design and kinematics for many different configurations, including a triangular base (delta), square base and open base, were derived and simulations confirmed the kinematics of each of the designs. A small unactuated prototype in the triangular (delta) configuration was developed which validated the translational motion and passive workspace.
Personnel - Keenan Granland (PhD student)
