Schoen flies Motion Generator: A New Non Redundant Parallel Manipulator with Unlimited Rotation Capability

Nowadays an important research effort is devoted to lower mobility parallel manipulators. The existing solutions often suffer from parallel mechanisms drawbacks, i.e. small workspace and limited rotation capability. A new concept of parallel manipulators providing Schoen flies motions (motions of well-known SCARA robot) is introduced in this paper. The proposed manipulator, based on the idea of articulated traveling plate explored by the authors, has an unlimited rotation capability without using motion transformation, ampli fication neither redundancy.