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Four Novel Pick-and-Place Isoconstrained Manipulators and Their Inverse Kinematics

[+] Author Affiliations
Po-Chih Lee, Jyh-Jone Lee

National Taiwan University, Taipei, Taiwan

Chung-Ching Lee

National Kaohsiung University of Applied Sciences, Kaohsiung, Taiwan

Paper No. DETC2010-28426, pp. 1079-1088; 10 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


The four-degree-of-freedom (4-DoF) Schoenflies-motion (briefly termed X-motion) manipulator with the fast pick-and-place operation is essential for industrial assembly and packaging. For the development of this kind of industrial manipulator, we provide architectures and inverse kinematics of four X-motion isoconstrained parallel mechanisms with two limbs, Cu u Uw Hw -//-Cv v Uw Hw , Cu Ru u Uhw -//-Cv Rv v Uhw , Cu Ru PHw -//-Cv Rv PHw and Cu Pu Uhw -//-Cv Pv Uhw (R, P, H and C denote revolute, prismatic, screw and cylindrical pairs respectively; U indicates a universal joint). These novel manipulators are excerpted from numerous general architectural types of isoconstrained parallel generators of X-motion. In this work, their architectures and mobility are first elucidated in detail. With the help of the well-known D-H symbolic notations, their three translational and one rotational motion are comprehensively verified through the four-by-four coordinate transformation matrix approach. Inverse kinematic solutions of joint displacements of each manipulator are further established by using the matrix algebra method for the reference of potential applications.

Copyright © 2010 by ASME



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