| contributor author | S. Briot | |
| contributor author | I. A. Bonev | |
| date accessioned | 2017-05-09T00:34:35Z | |
| date available | 2017-05-09T00:34:35Z | |
| date copyright | May, 2009 | |
| date issued | 2009 | |
| identifier issn | 1942-4302 | |
| identifier other | JMROA6-27977#021001_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/141483 | |
| description abstract | In this paper, a novel 3DOF fully decoupled translational parallel robot, called the Pantopteron, 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 actuator 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. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Pantopteron: A New Fully Decoupled 3DOF Translational Parallel Robot for Pick-and-Place Applications | |
| type | Journal Paper | |
| journal volume | 1 | |
| journal issue | 2 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.3046125 | |
| journal fristpage | 21001 | |
| identifier eissn | 1942-4310 | |
| keywords | Robots | |
| keywords | Linkages | |
| keywords | Actuators | |
| keywords | Design | |
| keywords | Mechanisms | |
| keywords | Displacement | |
| keywords | Kinematics AND Manipulators | |
| tree | Journal of Mechanisms and Robotics:;2009:;volume( 001 ):;issue: 002 | |
| contenttype | Fulltext | |
