A three-dof robomech: Architecture, optimum synthesis and introduction to compliant robomechs

A robomech is a multi-input multi-output parallel-drive arm equipped with several end effectors to perform tasks that require the simultaneous execution of coordinated multi functions. A three-dof robomech equipped with three end effectors is herein presented. The proposed robomech can perform a three-function task. The robomech consists of three wings that form two cells, each constitute 5R architecture. As an overconstrained linkage, a robomech cannot traverse continuous trajectories. However, it can be synthesized to move its end effectors through any number of desired locations. This article presents the architecture of the proposed robomech, establishes its kinematic relations and constraints, and provides dimensional synthesis scheme based on genetic algorithm, gradient search, and least-square optimization methods. Additionally, a compliant robomech based on the pseudo-rigid-body model (PRBM) is introduced. A case study of an 8-position synthesis task is provided.