A Six-Dof Epicyclic-Parallel Manipulator

Chao Chen (1) , Thibault Gayral (2) , Stéphane Caro (2) , Damien Chablat (2) , Guillaume Moroz (3) , Sajeeva Abeywardena (1)

1 Monash University [Malaysia]
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
3 VEGAS - Effective Geometric Algorithms for Surfaces and Visibility

A new six-dof epicyclic-parallel manipulator with all actuators allocated on the ground is introduced. It is shown that the system has a considerably simple kinematics relationship, with the complete direct and inverse kinematics analysis provided. Further, the first and second links of each leg can be driven independently by two motors. The serial and parallel singularities of the system are determined, with an interesting feature of the system being that the parallel singularity is independent of the position of the end-effector. The workspace of the manipulator is also analyzed with future applications in haptics in mind.

Mots clés: parallel manipulator; epicyclic system; kinematics; workspace

Domaines: Electronique

Chao Chen, Thibault Gayral, Stéphane Caro, Damien Chablat, Guillaume Moroz, et al.. A Six-Dof Epicyclic-Parallel Manipulator. Journal of Mechanisms and Robotics, 2012, 4 (4), ⟨10.1115/1.4007489⟩. ⟨hal-00684803⟩