1. Open Access Kent State
  2. Motion Study of Two- and Three-Dimensional Pantograph Mechanisms
Author(s)
Abstract

Coupling of vertical, horizontal and rotory motions in manipulators slows down calculating speed for real time control and lowers system energy efficiency. Pantograph mechanisms can be, and are being used as manipulators to remove the coupling of motion. In this paper, the basic theorems and equations of both two- and three-dimensional pantograph mechanisms are presented. The motion characteristics and singularities of the pantograph are also discussed. Methods which are used to determine the workspaces of pantograph type manipulators are developed and illustrated in an example. Some aspects of structural design of these pantographs are also discussed.
Format
Article
Identifier(s)
10.1016/0094-114X(87)90021-8
Publication Date
1987-01-01
Publication Title
Mechanism and Machine Theory
Volume
22
Issue
4
First Page
321
Last Page
331
Keywords
Subject
Community
College of Applied Engineering, Sustainability, and Technology
Permalink https://oaks.kent.edu/caestpubs/34
Song, S.-M., Lee, J.-K., & Waldron, K. (1987). Motion Study of Two- and Three-Dimensional Pantograph Mechanisms. Mechanism and Machine Theory. https://doi.org/10.1016/0094-114X(87)90021-8
Song, Shin-Min, Jong-Kil Lee, and Kenneth Waldron. 1987. “Motion Study of Two- and Three-Dimensional Pantograph Mechanisms”. Mechanism and Machine Theory. https://doi.org/10.1016/0094-114X(87)90021-8.
Song, S.-M., J.-K. Lee, and K. Waldron. Motion Study of Two- and Three-Dimensional Pantograph Mechanisms. Mechanism and Machine Theory, 1 Jan. 1987, doi:10.1016/0094-114X(87)90021-8.