On some technological problems concerned with kinematical properties of parallel manipulator's for measuring applications

Abstract

The prototype of parallel manipulator of Stewart platform type destined for the measuring applications and some technological problems concerned with its design is presented in the paper. The design of mechanical part of the robot has been worked out in UNIGRAPHICS system while engineering simulations was made in ADAMStrade environment. Preliminary results of the design and initial investigations concerned with measuring applications, and conclusions are presented. Main advantages of this solution are simplicity, compactness and lightness of the construction. The POLMAN design provides a systematic approach to the development of modular parallel robotic systems which can be configured into a wide variety of different forms for different applications. Because of special construction of kinematic pairs, manipulator can assure very small mechanical hysteresis. Manipulator is applied to robotized measuring of two cooperated robots in the laboratory stand