A Schönflies Motion Generator Actuated by Four In-Parallel Sliding Joints with a Single Mobile Platform Featuring Half-Circle Rotation

This paper presents a Schönflies motion generator actuated by four sliding joints in-parallel with a single mobile platform, of which the robot architecture admits a long and narrow workspace that is adaptive to the pick-and-place operations. This unique structure can ease the kinematic modeling and singularity identification. The dexterity and singularity analysis is carried out, where a singularity-free workspace with high rotational capability (i.e., half-circle rotation) is found. A CAD model is built to show that the robot architecture allows more robots to be installed along the production line side by side to improve the productivity.