Design and Fabrication of 3-RPS Robot - Rack and Pinion Mechanism

Abstract

Parallel Manipulator is one of the trending research topics in the field of robotics. Recently, the 3-RPS parallel manipulator is widely being used for novel applications. Conventionally, the prismatic actuation is implemented using pneumatic drives. In this paper, a rack and pinion mechanism for prismatic link actuation is proposed. Three different modes of operations and two methods for controls are proposed. To validate the kinematic analysis of this configuration a MATLAB model is developed. To compare the numerical and experimental micro-manipulations two test cases are designed and results are compared.