3-DOF Planar Positioning-Orientation Mechanisms with Links and Large-Deflective Hinges
One of the author has already proposed and developed the molding pantograph mechanism with large-deflective hinges and links for miniature surface mount system for manufacturing system. The characteristic of the pantograph mechanism is investigated theoretically and experimentally. The aimed final miniature manufacturing system for micro assembling is composed of the pantograph mechanisms and the following positioning-orientation mechanism. In this paper, a new molding 3-DOF(Degrees of freedom) planar positioning-and-orientation mechanism with large-deflective hinges and links is proposed. The mechanism has two function: a transmission function between manufacturing stations and a positioning-orientation function at the manufacturing station. The mechanism with six large-deflective hinges and seven links is made by the small molding injection machine. The used material is PP (Polypropylene). The mechanism has three linear actuators. In the experiments, the singular points of the mechanism is investigated in its working space and compared with the theoretical results. The performance concerning the transmissibility of the proposed new molding 3-DOF planar positioning-orientation mechanism is confirmed.
KeywordsSingular Point Parallel Manipulator Linear Actuator Output Link Manufacturing Station
Unable to display preview. Download preview PDF.
- Horie. M., and Kamiya, D., (2000), A Pantograph Mechanism with Large-deflective Hinges for Miniature Surface Mount System; Book of Abstracts ( Thirteenth CISM-IFToMM, Symposium on the Theory and Practice of Robots and Manipulators ), 10.Google Scholar
- Gosselin C., and Merlet J-P., (1994), On the direct kinematics of planar parallel manipulators: special architectures and number of solutions; Mechanism and Machine Theory,29(8): 1083–1097, November.Google Scholar
- Merlet J-P., (1996), Direct kinematics of planar parallel manipulators; IEEE Int. Con! on Robotics and Automation, 3744–3749, Minneapolis, April, 24–26.Google Scholar
- Merlet J-P., Gosselin C., and Mouly N. (1998), Workspaces of planar parallel manipulators; Mechanism and Machine Theory,33(1/2):7–20, January.Google Scholar
- Sefrioui J., and Gosselin C.M., (1995), On the quadratic nature of the singularity curves of planar three-degree-of-freedom parallel manipulators; Mechanism and Machine Theory,30(4):533–551, May.Google Scholar
- Fettig H., Hubbard T., and Kujath M. (2000), Simulation and modeling of compliant micro-mechanisms; IX Int. Microscale System Symp., 12–18, Florida, June, 8.Google Scholar
- Pemette E., et. al., (1997), Design of parallel robots in microrobotics; Robotica, 15(4):4l7–420, July-August.Google Scholar
- Portman V.T., Sandler B-Z., and Zahavi E., (2000), Rigid 6x6 parallel platform for precision 3D micromanipulation theory and design application; IEEE Trans. On Robotics and Automation, 16(6):6290–6430, December.Google Scholar
- Funabashi H., and Takada Y., (1995), Detennination of singular points and their vicinity in parallel manipulators based on the transmission index; 9`“ World Congress on the Theory of Machines and Mechanisms, 1977–1981, Milan, August 30- September 2.Google Scholar