Pantopteron: A New Fully Decoupled 3DOF Translational Parallel Robot for Pick-and-Place

In this paper, a novel 3-DOF fully decoupled translational parallel robot, called the Pan-topteron, is presented. This manipulator is similar to the Tripteron Cartesian parallel manipulator, but due to the use of three pantograph linkages, an amplification of the ac-tuators displacements is achieved. Therefore, equipped with the same actuators, the mobile platform of the Pantopteron moves many-times faster than that of the Tripteron. This amplification is defined by the magnification factor of the pantograph linkages. The kinematics, workspace and constraint singularities of the proposed parallel robot are studied in detail. Design considerations are also discussed and a possible prototype is illustrated. .

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