Fundamental research for the horizontal plane drive of an injection-molding pantograph mechanism for grasping and assembling a small object within a fixed view

When a pantograph mechanism arranged along a horizontal plane is applied to a micromanipulator, the output point of the pantograph mechanism has a vertical output displacement error based on the weight of the end effector. In this research, the output displacement of the output link of the pantograph mechanism arranged along a horizontal plane is measured when the perpendicular direction static load reaches the top of the output link. In the results, the relationship between perpendicular direction load and output displacement was clarified, and it was concluded that static load is proportional to output displacement. Moreover, by changing the thickness of the pantograph mechanism arranged along the horizontal plane, the relationship between the thickness and the rigidity of the mechanism was also clarified. Finally, the design method along with a design flowchart for the pantograph mechanism was obtained using the above relationship between the mechanism's thickness and rigidity when the specification of the micromanipulator and the weight of the end effector are given.