Kinematics, dynamics and construction of a planarly actuated parallel robot |
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Authors: | Ronen Ben-Horin Moshe Shoham Shlomo Djerassi |
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Affiliation: | aDepartment of Mechanical Engineering, Technion – Israel Institute of Technology, Technion City, Haifa 32000, Israel;bRAFAEL – P.O. Box 2250, Haifa, Israel |
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Abstract: | Kinematic and dynamic analysis of a parallel robot consisting of three planarly actuated links, is presented in this paper. Coordinated motion of three planar motors, connected to three fixed-length links, produces a six-degrees-of-freedom motion of an output link. Its extremely simple design along with much larger work volume than the commonly used parallel robots make this high performance-to-simplicity ratio robot very attractive. Experimental model verifies the unique combination of large work volume and high accuracy of this robot. |
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Keywords: | Parallel robots Kinematics Dynamics |
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