NU 2013-068

Inventors

Zeng Qiang*

Kornel F Ehmann

Jian Cao

Short Description

A novel 3-DOF translational parallel manipulator with high output stiffness and accuracy

Abstract

Northwestern's researchers have developed a novel 3-DOF (Degree of Freedom) translational manipulator called tri-pyramid robot. Capable of manipulating an objective in space by generating translational output in three directions, the 3-DOF translational manipulators are widely used in industry. However, most current 3-DOF translational manipulators have limited output stiffness and accuracy. To overcome these disadvantages, the tri-pyramid robot is developed using novel topology to achieve high structure load/weight-ratio and output accuracy. With the improved operating speed, output stiffness and precision compared with existing systems, the tri-pyramid robot is promising for various industrial applications, such as machining, precision positioning, and operations of robotic arms.

Applications

• High stiffness/accuracy fabrication machines, such as milling or metal forming
• High-speed pick and place operations
• Precision positioning
• Robotic arms

Advantages

• High output stiffness and accuracy
• High operating speed and dexterity
• High load/weight ratio
• Free of motion singularity
  

Publication
Q. Zeng, K. F. Ehmann and J. Cao. (2014) 'Tri-pyramid robot: design and kinematic analysis of a 3-DOF translational parallel manipulator', Robotics and Computer-Integrated Manufacturing, Vol.30 (6), pp. 648-257.
Q. Zeng, K. F. Ehmann and J. Cao. (2014) 'Tri-pyramid robot: stiffness modeling of a 3-DOF translational parallel manipulator', Robotica, doi:10.1017/S0263574714001520.

IP Status

US provisional patent application has been filed