The dynamics of a parallel Schönflies-motion generator

•The kinematics and dynamics analysis of a Schönflies-motion generator (SMG), termed the Peppermill Carrier (PMC).•The dynamics formulation was derived based on the concept of natural orthogonal complement (NOC).•The simulation validation confirmed the balance of work and energy in the system•The experiments were conducted to measure the PMC motor torques. The results corroborate the motor torques obtained from the mathematical model.

A parallel architecture was recently proposed to generate Schönflies motions. The CRRHHRRC closed kinematic chain offers a symmetric single-loop architecture, isostatic design, and high rotatability1 of its gripper. This pick-and-place robot uses an innovative cylindrical drive, which is a realization of a two-degree-of-freedom cylindrical actuator. The authors report the kinematics and dynamics analysis of the above-mentioned Schönflies-motion generator, developed at McGill University's Centre for Intelligent Machines. This analysis is intended to optimize the robot design. Validation of the mathematical model was conducted experimentally. The results reveal the accuracy of the model.