{"id":4163,"date":"2016-10-26T12:27:03","date_gmt":"2016-10-26T12:27:03","guid":{"rendered":"http:\/\/www.ehu.eus\/compmech\/?page_id=4163"},"modified":"2017-02-23T10:50:11","modified_gmt":"2017-02-23T10:50:11","slug":"5-r","status":"publish","type":"page","link":"https:\/\/www.ehu.eus\/compmech\/research-2\/prototypes\/5-r\/","title":{"rendered":"5 R"},"content":{"rendered":"

Name of the prototype: 5R
\nBelonging to the projects: PARAMEC SAIOTEK 2013<\/strong> (Government of the Basque Country), EHUA13\/30<\/strong> (Government of the Basque Country) & DYNAMECH<\/strong><\/a><\/p>\n

 <\/p>\n

The 5 R mechanism is a parallel manipulator with XY planar motion capabilities.<\/p>\n

Initially, we had built a 5R parallel mechanism with the terminal being a point. The main drawback of the design was that it was not possible to attach any end-effector or fastener system to the terminal and, thus, it was not possible to manipulate objects. In order to avoid this problem, a second 5R parallel mechanism was attached to the original one, so both move all at one. This solution has two main advantages:
\n– The second mechanism has a platform as terminal, so different objects can be attached and manipulated.
\n– The second mechanism is made of carbon fibre, so it does not add much weight but it increases the stiffness significantly in a direction perpendicular to the working plane.
\nThe prototype with the two mechanisms is shown in the following picture:<\/p>\n

\"5R\"<\/p>\n

 <\/p>\n

In these two pictures we can see the planar workspace of the manipulator and the representation of the mechatronic model developed for this manipulator:<\/p>\n

[ezcol_1half]<\/p>\n

\"5R_3\"<\/p>\n

[\/ezcol_1half]<\/p>\n

\"5R_2\"<\/p>\n

 <\/p>\n

 <\/p>\n

You can see the prototype motions in these videos:<\/p>\n

https:\/\/youtu.be\/JDc5h0SVt_g<\/p>\n