Synthesis of parallel manipulators using Lie-groups Y-STAR and H-ROBOT

Our aim is to give a complete presentation of the application of Lie group theory to the structural design of manipulator robots. We focused our attention on parallel manipulator robots and in particular those capable of spatial translation. This is justified by many industrial applications which do not need the orientation of the end-effector in the space. The advantage of this method is that we can derive systematically all kinematics chains which produce the desired displacement subgroup. In addition, we obtain kinematic equations with ease and rapidity. Hence, an entire family of robots results from our investigation. The Y-STAR manipulator was constructed at the Ecole Centrale Paris and is now a working device. Learning techniques are currently being studied to enhance his capabilities. H-ROBOT is also being constructed. Both manipulators respond to the increasing demand of fast working rhythms in modern production at a low cost and are suited for any kind of pick and place jobs like sorting, arranging on palettes, packaging and assembly