{"id":4133,"date":"2016-10-26T12:15:55","date_gmt":"2016-10-26T12:15:55","guid":{"rendered":"http:\/\/www.ehu.eus\/compmech\/?page_id=4133"},"modified":"2017-02-23T11:10:40","modified_gmt":"2017-02-23T11:10:40","slug":"scissors","status":"publish","type":"page","link":"https:\/\/www.ehu.eus\/compmech\/research-2\/prototypes\/scissors\/","title":{"rendered":"Scissors"},"content":{"rendered":"

Name of the prototype: Scissors<\/strong>
\nBelonging to the projects: PARAMEC SAIOTEK 2013<\/strong> (Government of the Basque Country), EHUA13\/30<\/strong> (Government of the Basque Country) & DYNAMECH<\/strong><\/a> (Spanish Government)<\/p>\n

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This is a 2 PRR parallel mechanism with XY planar motion capabilities. One of its legs is an articulated parallelogram, so the terminal element is a plate instead of a point. The prototype has three 700mm long bars made of aluminium 7075 with a total weight of 7.8kg.<\/p>\n

\"tijera\"\u00a0\u00a0\u00a0\u00a0\u00a0 \"tijera2\"<\/p>\n

The following picture shows the workspace of the manipulator, with the useful workspace needed for a standard pick & place operation in orange.<\/p>\n

\"tijera4\"<\/p>\n

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All the manufacturing process has been done in the University of the Basque Country, UPV\/EHU.<\/p>\n

\"tijera5\"<\/p>\n

All joints have ball bearings so there are no clearances and no friction.<\/p>\n

\"tijera6\"<\/p>\n

 <\/p>\n

Here you can see the prototype moving:<\/p>\n