Abstract
Schoenflies-motion generators (SMGs) are 4-degrees-of-freedom (DOF) manipulators whose end effector can perform translations along three independent directions and rotations around one fixed direction (Schoenflies motions). Pick-and-place tasks are typical industrial applications that can be accomplished by these manipulators. In a previous paper, one of the authors proposed a novel single-loop not-overconstrained SMG of type PRRS-RRC with actuators on or near the base and decoupled kinematics, and presented its kinematic analysis. Here, its workspace analysis and its dimensional synthesis are addressed.
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Notes
- 1.
Hereafter, R, P, U, S, and C stand for revolute pair, prismatic pair, universal joint, spherical pair, and cylindrical pair respectively. The underlining indicates the actuated joints and the sequence of joint types, which are encountered by moving from the base to the platform on a limb, is given with a string of capital letters.
- 2.
In this SMG, the DPA consists in “computing the κ values compatible with one assigned q value”. Vice versa, the inverse position analysis (IPA) consists in “computing the q values compatible with one assigned κ value”.
- 3.
It is worth reminding that serial singularities lie on (and identify) the workspace boundary.
- 4.
For instance, they could be used to optimize the kinetostatics performances of the machine and/or to satisfy requirements on the precision positioning.
- 5.
It is worth reminding that a not-Grashof four-bar is always a rocker-rocker four-bar.
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Acknowledgments
This work has been developed at the Laboratory of Advanced Mechanics (MECH-LAV) of Ferrara Technopole, supported by FAR2017 UNIFE funds, by Regione Emilia Romagna (District Councillorship for Productive Assets, Economic Development, Telematic Plan) POR-FESR 2007-2013, Attività I.1.1, and by CNPq – Conselho Nacional de Desenvolvimento Científico e Tecnológico (National Council for Scientific and Technological Development), Brazil.
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Simas, H., Di Gregorio, R. (2019). Workspace Analysis and Dimensional Synthesis of the PRRS-RRC Shoenflies-Motion Generator. In: Gasparetto, A., Ceccarelli, M. (eds) Mechanism Design for Robotics. MEDER 2018. Mechanisms and Machine Science, vol 66. Springer, Cham. https://doi.org/10.1007/978-3-030-00365-4_25
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DOI: https://doi.org/10.1007/978-3-030-00365-4_25
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