Very Fast Schoenflies Motion Generator

Abstract

This paper introduces a four-degree-of-freedom parallel manipulator producing Schonflies motions (three translations and one rotation). It has been developed with the goal of reaching very high speed. This paper shows that its architecture is particularly well adapted to high dynamics. Indeed, it is an evolution of delta, H4 and I4 robots architectures: it keeps the advantages of these existing robots, while overcoming their drawbacks. In addition, this paper shows the dynamic modelling of the architecture that is useful for a future dynamic control. Finally, experimental results are shown, and prove that the robot is able to reach high accelerations (13 G) and obtain a cycle time of 0.28 s