Tripteron and Quadrupteron |
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Tripteron
Theoretical research often leads to fascinating discoveries:
in this case the tripteron, a 3-DOF translational parallel mechanism. The prototype
was first developed through mathematical derivations (systematic type synthesis) based on screw theory.
This unique and patented robot enables linear displacements in all
directions. It is in fact equivalent to serial Cartesian robots. But since it is a parallel robot,
it offers numerous other advantages, including the positioning of its actuators on the
base, which reduces the moving inertia and thus allows rapid movements.
Moreover, the tripteron has very simple kinematics, which are actually the same as those of
serial Cartesian robots. Also, this robot is isotropic and fully decoupled,
i.e. each of the actuators is controlling one Cartesian degree of freedom, independently
from the others. This robot thus has no
singularities within its workspace and its dexterity is always optimal.
The figures below also indicate that it is possible to orient the linear actuators
in different directions, for example in a parallel or co-planar manner rather than orthogonally.
The prototype developed in our laboratory is of the type 3-PRRR.
An American patent (US 6,729,202)
and a Patent Cooperation Treaty (PTC)
(WO 02/096605)
cover the tripteron.
Video Clips
The following video clips show the tripteron in operation.
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Tripteron: workspace
Video clip showing the workspace of the mechanism.
Format: mpg Length: 0:13 Size: 3.8 Mb
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Tripteron: checkers game
Video segment illustrating the manipulation of a checkers game.
Format: mpg Length: 0:30 Size: 8.7 Mb
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Tripteron: weights
Video clip showing the manipulation of weights.
Format: mpg Length: 0:18 Size: 5.3 Mb
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Tripteron
Video clip showing a combination of the manipulations mentioned above.
Format: mpg Length: 1:02 Size: 15.0 Mb
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Quadrupteron
Akin to the tripteron, the quadrupteron was also developed through systematic type synthesis.
Ressembling the tripteron on many ways, the unique feature of the quadrupteron is
mainly its 4 DOFs. In addition to the three translations, one rotation along the
vertical axis is possible. The
prototype thus has three legs of the type PRRU and one
leg of type PRRR.
The quadupteron reproduces the same movements, although with an increased dexterity, as the well-known SCARA robot
(Selective Compliant Assembly Robot Arm), i.e., the Schönflies motions.
The quadrupteron is isotropic in
translation. The singularities are only present in
two orientations, ±90 degrees, which cannot be
reached since the workspace is
±60 degrees (which is already very attractive).
The design of the prototype was achieved through a variety of studies in order to
reduce the presence and size of the singularities and to
optimize the deterity and workspace.
Selected Photos
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Several photos of the quatrupteron are provided below. They can be enlarged
by directly clicking on the photo. |
Video clips
The following video segments show the quatrupteron in operation.
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Quadrupteron
Video clip showing the available degrees of freedom, motion along different paths and the use of a pneumatically-driven gripper at the effector.
Format: mpg Length: 0:44 Size: 10.6 Mb
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Quadrupteron: accelerations
Video clip showing the motion of the quadrupteron with different accelerations, from 1.2 to 4 g.
Format: mpg Length: 1:08 Size: 32.8 Mb
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