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Schoenflies Motion Generator: A New Non-Redundant Parallel Manipulator with Unlimited Rotation Capability

Abstract : Nowadays an important research effort is devoted to lower mobility parallel manipulators. The existing solutions often suffer from parallel mechanisms drawbacks, i.e. small workspace and limited rotation capability. A new concept of parallel manipulators providing Schoen flies motions (motions of well-known SCARA robot) is introduced in this paper. The proposed manipulator, based on the idea of articulated traveling plate explored by the authors, has an unlimited rotation capability without using motion transformation, ampli fication neither redundancy.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00105964
Contributor : Christine Carvalho de Matos <>
Submitted on : Friday, October 13, 2006 - 10:22:11 AM
Last modification on : Thursday, December 6, 2018 - 3:06:02 PM

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Olivier Company, François Pierrot, Vincent Nabat, Maria de la O Rodriguez. Schoenflies Motion Generator: A New Non-Redundant Parallel Manipulator with Unlimited Rotation Capability. ICRA: International Conference on Robotics and Automation, 2005, Barcelona, Spain. ⟨10.1109/ROBOT.2005.1570611⟩. ⟨lirmm-00105964⟩

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