Tripteron

TRIPTERON
The tripteron is a 3-DOF translational parallel mechanism. The prototype was first developed through mathematical derivations (systematic type synthesis) based on screw theory. This unique and patented robot enables linear displacements in all directions. It is in fact equivalent to serial Cartesian robots. But since it is a parallel robot, it offers numerous other advantages, including the positioning of its actuators on the base, which reduces the moving inertia and thus allows rapid movements.
Moreover, the tripteron has very simple kinematics, which are actually the same as those of serial Cartesian robots. Also, this robot is isotropic and fully decoupled, i.e. each of the actuators is controlling one Cartesian degree of freedom, independently from the others. This robot thus has no singularities within its workspace and its dexterity is always optimal.
This video-clip shows a tripteron in action.
TRIPTERON
Le tripteron est un mécanisme parallèle à translations à 3 ddl. Le prototype a d'abord vu le jour à travers les formules mathématiques (synthèse systématique) et la théorie des visseurs. Robot unique, et breveté, il permet de réaliser des déplacements linéaires dans toutes les directions. C'est en fait l'équivalent des robots cartésiens sériels. Mais, puisqu'il est parallèle, il possède de nombreux autres avantages, notamment le positionnement des actionneurs sur la base, qui allège la partie mobile et permet ainsi des mouvements rapides et une réduction du gauchissement.
Le tripteron a de plus une cinématique très simple, en fait la même que les robots cartésiens sériels. Mais ce qui retient le plus notre attention, est qu'il soit isotrope et découplé. Ceci signifie qu'il garde la même précision de mouvement, peu importe l'endroit où il se trouve, et que cette précision est directement celle des moteurs (la précision de positionnement de l'effecteur est habituellement inférieure à celle des moteurs). Chacun des moteurs contrôle indépendemment une des translations. Le tripteron ne comporte donc aucune singularité à l'intérieur de son espace de travail et sa dextérité est toujours optimale.
Cette vidéo montre un tripteron en action.
Pour l'article scientifique,
For the scientific article,
pii.sagepub.com/content/223/1/...
Pour plus d'information,
For more information,
www.robot.gmc.ulaval.ca/

[@headbanger1428]

A very curious design. As someone already expressed, I’d also like to know more about tolerances. Well done on the approach. Looking forward to knowing more.

[@dejanvanevski4399]

Nice work👌👌

[@jnevercast]

What are the tolerances on Joint2(Elbow) of the Z axis(Vertical)? Has this been tested with increase end effector weight to see how accuracy is affected?

[@mr.karaman]

Could you give information about the maximum load carrying (payload) capacity?

[@964cuplove]

You could Deposition the axis parallel to the floor to the top side and then hang a slim extruder underneath that would allow for a slim print head coming from high abive

[@ycy-technologies]

Is it more rigid than a conventional 3-axis gantry? Can greater accuracy and repeatability be achieved?

[@itisinfactpaul2868]

Generally speaking, no on both counts.

[@yourfactstory]

cool!

[@cadguy9879]

what is the practical use, just curious

[@Talweg]

3D printing ;)

[@weareallbeingwatched4602]

Squirrel confuser

[@stonecraft745]

Stirring pancake batter

[@eski5195]

I can see a use for a pick and place machine in a factory

[@nonconformist4802]

@@weareallbeingwatched4602 And that is about all it can do

[@lagranjalab8471]

Genial, muy bien hecho!!! , ya probaron otros sistemas mecánicos?, se ve muy suave el movimiento eso es increible, excelente para impresión, láser.
Cuánto peso soporta para una antorcha de plasma o router ?🤩 Los felicito

[@eugkra33]

Looking at all these Tripteron designs. Is there actually a point and practicality to designing something like a CNC machine or printer like this instead of the regular way, or is it just for show?

[@lukasstaar6860]

I would guess that it has similar advantages as a corexy printer, cause youre not moving as much mass (if its design is optimised). But you need quite sturdy joints cause they influence the tolerances heavily. Probably has advantages, but doesnt seem to be worth the extra effort.

[@frankearl9285]

@@lukasstaar6860 : Getting rid of belts, etc. might be a good reason to do that. You can do this with lead/ball screws for the actuators...and the same can't be said for CoreXY, H-Bot, etc. Belts rather make for toys in the long-run.

[@microsoftword213]

It seems to me it will never have the tolerances of a regular cnc machine. The play in those joints is going to have to be microscopic to produce any kind of accurate positioning of the head.

[@saulotarsobc]

😍

[@paulschafer2562]

Слишком много трущихся деталей, слишком маленькая нагрузка, точность позиционирования при нагрузке тоже играет большую роль

[@GpunktHartman]

Ist doch klar : zum Suppe umrühren...