On the Design of PAMINSA: A New Class of Parallel Manipulators with High-Load Carrying Capacities
Résumé
1 This paper deals with the new results concerning the topologically decoupled parallel manipulators called PAMINSA. The conceptual design of these manipulators, in which the copying properties of pantograph linkage are used, allows obtaining a large payload capability. A newly synthesized fully decoupled 3 degrees of freedom manipulator is discussed and a systematic approach for motion generation of input point of each limb is presented. It is shown that the conditions of complete static balancing of limbs are not effective in the case of dynamic mode of operation. This is approved by numerical simulations and experiments.
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