PRECISION MULTI-DEGREES-OF-FREEDOM POSITIONING SYSTEMS

摘要

The paper is dealing with the development of a new class of multipurpose multi-degrees-o-freedom (MDOF) Positioning Systems (PS) to be used as precision devices in a cell manufacturing desktop environment. Based on a structural investigation and systematization with imposed criteria, PM with 2dof actuators on the base was proposed. In its first modular design concept, each of the members-Positioning units(Pu), having at least 2DOF motion capabilities over a large workspaces, are symmetric parallel mechanisms (PM) architectures, fully actuated, by in-parallel linear-linear (L-L) actuation modules(aM). The kinematics and design aspects for the representative cases -2, 4 and 6 DOF Pu, by using planar motors and scissors (and/or, parallelograms) as transfer of motion modules(TofM) are presented, as they exhibit, both, an increased stiffness and speed features, respectively.