Design and Prototyping of New 4, 5 and 6 Degrees of Freedom Parallel Manipulators Based on the Copying Properties of the Pantograph Linkage
Résumé
In this paper, a new family of parallel manipulators called PAMINSA 1 is proposed. The particularity of these manipulators is the decoupling of displacements in the horizontal plane from its translation along the vertical axis. The advantages of such an approach are discussed, and a prototype is presented. The positioning errors of the moving platform taking into account the elasticity of links are determined and the performances of such a design are shown.
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