Kinematics and Singularity Analysis of a Crrhhrrc Parallel Schönflies Motion Generator

A novel architecture for a parallel Schönflies motion generator was recently proposed, consisting of a CRRHHRRC linkage. The novelty of this architecture lies in its simplicity, as it comprises only two limbs, thereby forming a single-loop closed kinematic chain. Reported in this paper is a realization of this architecture, intended for the production of a proof-of-concept prototype. The realization includes an innovative actuator mechanism, which is based on two-degree-of-freedom cylindrical joints. Moreover, its moving plate is coupled to the two limbs by means of corresponding coaxial H pairs. The paper focuses on the kinematics and singularity analysis of this robot, intended for fast pick-and-place operations. The prototype is currently under development at McGill University’s Centre for Intelligent Machines.