Precision Multi-Degrees-of-Freedom Positioning Systems - Modular Design For Assembly Applications

The paper is dealing with the development of a new class of multipurpose multi-degrees-o-freedom (MDOF) Positioning Systems (PS) to be used as precision devices in a cell manufacturing desktop environment. Based on a structural investigation and systematization with imposed criteria, parallel mechanisms (PM) with 2dof actuators on the base was proposed. In its first modular design concept, each of the members–Positioning units(Pu), having at least 2DOF motion capabilities over a large workspaces, are symmetric PM architectures, fully actuated, by in-parallel linear-linear (L-L) actuation modules(aM). The kinematics and design aspects for the representative cases – 2, 4 and 6 DOF Pu, by using planar motors and scissors (and/or, parallelograms) as transfer of motion modules(TofM) are presented, as they exhibit, both, an increased stiffness and speed features, respectively.