The dynamics of a parallel Schönflies-motion generator

Abstract A parallel architecture was recently proposed to generate Schonflies motions. The CRRHHRRC closed kinematic chain offers a symmetric single-loop architecture, isostatic design, and high rotatability 1 of its gripper. This pick-and-place robot uses an innovative cylindrical drive, which is a realization of a two-degree-of-freedom cylindrical actuator. The authors report the kinematics and dynamics analysis of the above-mentioned Schonflies-motion generator, developed at McGill University’s Centre for Intelligent Machines. This analysis is intended to optimize the robot design. Validation of the mathematical model was conducted experimentally. The results reveal the accuracy of the model.

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