Abstract

In this paper, a novel three-degree-of-freedom(3-DOF) manipulator based on the parallel link structure and the pantograph mechanism is presented. The manipulator can translate along two directions and rotate along one axis respectively. Compared with the serial open-chain manipulator, the manipulator has higher rigidity, higher accuracy and higher load capacity. The forward and inverse kinematical equations have been formulated. The simulation results show this new type of manipulator has excellent kinematical feature and fits heavy load task. A prototype is designed to perform the cutting tool exchange work in machining center.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.