A novel five-degrees-of-freedom decoupled robot

Authors:
Jaime Gallardo-alvarado;Horacio Orozco-mendoza;José m. Rico-martínez
Affiliations:
Department of mechanical engineering, instituto tecnológico de celaya, av. tecnológico y a. garcía cubas, 38010 celaya, gto, méxico;Department of mechanical engineering, instituto tecnológico de celaya, av. tecnológico y a. garcía cubas, 38010 celaya, gto, méxico;Department of mechanical engineering, fimee, universidad de guanajuato, salamanca – valle de santiago km 3.5 salamanca, gto, méxico
Venue:
Robotica
Year:
2010

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Abstract

In this work a new nonoverconstrained redundant decoupled robot, free of compound joints, formed from three parallel manipulators, with two moving platforms and provided with six active limbs connected to the fixed platform, called LinceJJP, is presented. Interesting applications such as multi-axis machine tools with parallel kinematic architectures, solar panels, radar antennas, and telescopes are available for this novel spatial mechanism.