Six degrees of freedom parallel robots with <i>C</i>₅ links

摘要

Summary This paper presents at first a static and kinematic analysis of closed chains mechanisms which permits to deduce different possible fully parallel architectures. Then we focus on a particular parallel architecture with C 5 links designed to perform precise assembly tasks. A general modeling of this C 5 parallel robot is presented. Two typical assembly tasks in the automotive industry are also proposed; the first one uses the C 5 links parallel robot as a left-hand device, while the second one uses it as the terminal tool of a sequential manipulator.