Quadrupteron

QUADRUPTERON
Akin to the tripteron, the quadrupteron was also developed through systematic type synthesis. Ressembling the tripteron on many ways, the unique feature of the quadrupteron is mainly its 4 DOFs. In addition to the three translations, one rotation along the vertical axis is possible. The prototype thus has three legs of the type PRRU and one leg of type PRRR.
The quadupteron reproduces the same movements, although with an increased dexterity, as the well-known SCARA robot (Selective Compliant Assembly Robot Arm), i.e., the Schönflies motions. The quadrupteron is isotropic in translation. The singularities are only present in two orientations, ±90 degrees, which cannot be reached since the workspace is ±60 degrees (which is already very attractive).
The design of the prototype was achieved through a variety of studies in order to reduce the presence and size of the singularities and to optimize the deterity and workspace.
This video shows a quadrupteron in action.
QUADRUPTERON
Petit frère du tripteron, le quadrupteron a également vu le jour sous la forme de formules mathématiques, c'est-à-dire grâce à une synthèse systématique basée sur la théorie des visseurs. Ressemblant au tripteron sur plusieurs points, il se distingue principalement par ses 4 ddls. En effet, en plus des trois translations, une rotation selon l'axe verticale est réalisable. Le prototype developpé a ainsi trois pattes de type PRRU et une patte de type PRRR.
Les mouvements du quadupteron reproduisent, avec une meilleur dextérité, ceux du célèbre robot SCARA (Selective Compliant Assembly Robot Arm), c'est-à-dire les mouvements de Schönflies. Le quadrupteron est isotrope en translation. Les singularités sont présentes uniquement en deux orientations, ±90 degrés. Or ces orientations ne sont pas atteignables puisque l'espace de travail en orientation est de ±60 degrés (ce qui est déjà fort intéressant).
La conception du prototype a fait l'objet de diverses études, notamment pour diminuer la présence et l'importance des singularités et pour optimiser la dextérité et l'espace de travail.
Cette vidée montre un quadrupteron en action.
Pour l'article scientifique,
For the scientific article,
pii.sagepub.com/content/223/1/...
Pour plus d'informations,
For more information,
www.robot.gmc.ulaval.ca/

[@DEtchells]

Nice! (I kept waiting for it to drop the bolt/pillar through the square hole 😁)

[@CowboybubPercussion]

Would this theoretically make non planer/conical slicing more viable if it were a 3D printer?

[@zombieregime]

Only if the machine could tilt the head(this can yaw (rotate around the Z axis, the motion at 00:10) but doesnt seem able to rotate around X or Y). However, while Im not sure if this mechanism alone could achieve it, two more linear steppers/servos on the head piece controlling a gimbal like linkage that a print head mounts to could add quite a lot of tilt with only a marginal sacrifice in Z total area.

[@CowboybubPercussion]

@@zombieregime perhaps these technologies could be combined, perhaps somebody should invent an all angles capable printer head, that would be capable of printing anywhere between 0-90 degrees of tilt, and capable of rotating 360 degrees on the Z axis

[@zombieregime]

@@CowboybubPercussion put a hot end on a kuka arm on a ringed track. That's about the most amount of freedom of movement you can have

[@binaryguru]

this would be for a pick-and-place robot

[@justingrey6008]

This is functionality identical to a Delta style, as both do not tilt the print platform. I realize they they are both different machines, but what you will get should be identical

[@xax9556]

Very nice machine!

[@johanness6545]

Awesome project with many applications, 3d printing aside...

[@patrickfle9172]

Do you have different words for two, three or five things?

[@cujbaion1]

A spatula handler for covering the cake with cream 🙂

[@alessandromagatti4863]

wonderfull use it as a cnc work

[@user-zz9ob3td8w]

А силовой привод за счет чего?

[@karmitfrog7968]

is this voron zero point beyond

[@zombieregime]

Ok, Neat. But now make it tilt the head so it can pick things up on their sides and set them up right. Would make that 'non-linear Z depth' print a lot easier if you didnt have to limit curves to however much clearance is under the head....
But, seriously, love the mechanism. Very cool.

[@sheetalamanji9509]

Nice ,with what softwares can you run the mechanism?

[@downtownbillyandthenewjivefive]

Assembler

[@Formastic]

What happens if you put the black dot outside the frame? We're limited, and we are reproducing the human brain. The robot are limited by the frames physical reality set by rules, and so are humans when they think of space. We're all programmed.

[@vice.nor.virtue]

me when i'm making cookie dough

[@robot0_0]

3Dプリンターとしての製品化を是非ー…

[@mikeunleashed1]

Redundant mechanism. Only for show.

[@icebluscorpion]

Nah I'm not impressed. Print A Normal size Benchy in under 3 min with high resolution with a Vulcano hotend and an additional weight of 1000g on the head of the hotend. Then I would go like Fry from Futurama style "shut up and take my money!" otherwise this is lame