Parallel mechanisms of the multipteron family: Kinematic architectures and benchmarking

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Parallel mechanisms of the multipteron family: Kinematic architectures and benchmarking

Gosselin, Clément M. and Masouleh, Mehdi Tale and Duchaine, Vincent and Richard, Pierre Luc and Foucault, Simon and Kong, Xianwen

Proceedings – IEEE International Conference on Robotics and Automation 2007

Abstract : This paper is a contribution to an invited session on the benchmarking of parallel mechanisms. The aim of the session is to compare different existing designs and prototypes of parallel mechanisms using a common set of benchmarking criteria. First, the kinematic architectures of parallel mechanisms of the multipteron family are presented. In addition to the Tripteron and the Quadrupteron, the Pentapteron, a five-degree-of-freedom (dof) parallel mechanism is introduced. Then, the benchmarking criteria are applied to the prototypes of the Tripteron (3-dof) and the Quadrupteron (4-dof) prototypes. Although the Tripteron and Quadrupteron parallel mechanisms have been presented elsewhere, their properties, highlighted by the benchmarking analysis presented here are revealed for the first time. © 2007 IEEE.

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