A SYNTHESIS OF ROBOTIC PANTOGRAPH MECHANISMS BASED ON WORKING SPACES AND STATIC CHARACTERISTIC CHARTS

Kinematic and static characteristics of pantograph mechanisms have been analyzed and represented in the form of charts which enable rational syntheses of the mechanisms as robot arms and legs with two degrees of freedom. Namely, the maximum joint forces and bending moments of links when the mechanisms take arbitrary positions and attitudes have been formuiated by introducing two factors. Characteristic charts of statics have been made by plotting lines of positions of the output point where both of the factors are respectively constant in dimensionless working spaces. Making use of the characteristic charts, shapes and dimensions of working spaces, load conditions, strokes and arrangement positions of actuators etc. can be directly considered in the determination of kinematic parameters of the robot mechanisms with the optimum joint forces and bending moments of links.