We present a novel 6 DOF robotic mechanism for reaching high ceilings and positioning an end-effector. The end-effector is supported with three scissor mechanisms that extend towards the ceiling with 6 independent linear actuators moving the base ends of the individual scissors. The top point of each scissor is connected to one of three ball joints located at the three vertices of the top triangular plate holding the end-effector. Coordinated motion of the 6 linear actuators at the base allows the end-effector to reach an arbitrary position with an arbitrary orientation. The design concept of the Triple Scissor Extender is presented, followed by kinematic modeling and analysis of the the Inverse Jacobian relating actuator velocities to the end-effector velocities. The Inverse Jacobian eigenvalues are determined for diverse configurations in order to characterize the kinematic properties. A proof-of-concept prototype has been designed and built. The Inverse Jacobian for use in differential control is evaluated through experiments.

中文翻译：

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Triple Scissor Extender：6自由度起重定位机器人

我们提出了一种新颖的 6 DOF 机器人机制，用于达到高天花板和定位末端执行器。末端执行器由三个剪刀机构支撑，这些剪刀机构向天花板延伸，6 个独立的线性致动器移动各个剪刀的基端。每个剪刀的顶点连接到三个球窝接头之一，该球窝接头位于固定末端执行器的顶部三角板的三个顶点处。底部 6 个线性执行器的协调运动允许末端执行器以任意方向到达任意位置。介绍了三重剪刀扩展器的设计概念，然后是运动学建模和分析反向雅可比行列式，将执行器速度与末端执行器速度相关联。为不同的配置确定逆雅可比特征值以表征运动学特性。已经设计并构建了一个概念验证原型。用于差分控制的逆雅可比行列式通过实验进行评估。