Design of the 'Granit' parallel kinematic manipulator

摘要

This work describes the development of the GRANIT parallel-kinematic robot. The robot endorses a multifunctional end effector, a stiff and precise device aimed at the assembly of heating coils for hairdryers. Such assembly task require repeatability and releability, therefore we developed a custom manipulator which has 4 degrees of freedom like a SCARA robot, although offering a superior rigidity and precision thank to a custom parallel-kinematic design.