论文信息 - The mechanical efficiency and kinematics of pantograph-type manipulators

The mechanical efficiency and kinematics of pantograph-type manipulators

Pantograph mechanism has been well known for its motion feature of decoupled kinematics. Planar pantograph mechanism has been extensively used in machinery since the seventeenth century. Recently, three dimensional pantographs have been used in walking machine leg and manipulator designs. This is because, the pantograph mechanism possesses the following advantages decoupled kinematics, higher energy efficiency, good rigidity, less link inertia and compact drive systems. In this paper, the mechanical efficiency of the kinematics of pantograph type manipulators are studied. The mechanical efficiency of pantograph mechanisms and conventional open-chain and closed-chain type manipulators are studied and evaluated using the concept of modified geometric work. The kinematics of six-d.o.f., pantograph type manipulators are studied and special mechanisms which simplify the kinematics are introduced. The computational complexity of both Cartesian and cylindrical type pantograph manipulators are evaluated and compared with a PUMA type manipulator.

S.-M. Song | Jong Kil Lee

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