A new type of parallel robot mechanism with an extendable structure is presented, and its kinematic properties and design parameters are analyzed. The Triple Scissor Extender (TSE) is a 6 Degree-Of-Freedom robotic mechanism for reaching high ceilings and positioning an end effector. Three scissor mechanisms are arranged in parallel, with the bottom ends coupled to linear slides, and the top vertex attached to an end effector plate. Arbitrary positions and orientations of the end effector can be achieved through the coordinated motion of the six linear actuators located at the base. By changing key geometric parameters, the TSE's design can yield a specific desired workspace volume and differential motion behavior. A general kinematic model for diverse TSEs is derived, and the kinematic properties, including workspace, singularity, and the Jacobian singular values, are evaluated. From these expressions, four key design parameters are identified, and their sensitivity upon the workspace volume and the Jacobian singular values is analyzed. A case study in autonomous aircraft assembly is presented using the insights gained from the design parameter studies.

中文翻译：

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六自由度三剪式伸展机器人在飞机装配中的设计与分析

提出了一种新型可伸缩结构并联机器人机构，分析了其运动学特性和设计参数。Triple Scissor Extender (TSE) 是一种 6 自由度机器人机构，用于达到高天花板和定位末端执行器。三个剪刀机构平行排列，底端与线性滑轨相连，顶部顶点与末端执行器板相连。末端执行器的任意位置和方向可以通过位于底座的六个线性执行器的协调运动来实现。通过更改关键几何参数，TSE 的设计可以产生特定的所需工作空间体积和差动行为。导出了不同 TSE 的通用运动学模型，运动学特性包括工作空间、奇异性、和雅可比奇异值，被评估。从这些表达式中，确定了四个关键设计参数，并分析了它们对工作空间体积和雅可比奇异值的敏感性。使用从设计参数研究中获得的见解，介绍了自主飞机装配的案例研究。