Abstract
This paper presents a study on the design, motion and force transmission characteristics of a non-traditional robot structure, the pantograph mechanism. Although the pantograph mechanisms has been known for about four hundred years, the comprehensive study of its potential advantages and limitations when used as a robot is believed to be new. In this paper, the kinematic linearity and dynamic nonlinearity between inputs and outputs are investigated. It is also proven that the two rectilinear input motions which exist in a pantograph structure are not coupled, and therefore are suitable for being adopted as generalized coordinates in control. In addition, a set of physically meaningful dimensionless parameters has been identified. Based on these parameters, kinematic properties for obtaining optimum motion range and workspace are suggested.
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