Kinematic analysis and design of a new two-limb parallel Schonflies-motion generator considering isotropic configuration

Guanglei Wu, Huiping Shen


This paper presents a new two-limb parallel Schonflies-motion generator, which adopts a pair of alternative spatial modules equivalent to the parallelogram structure. This modular architecture can ensure the enhanced stiffness of the manipulator normal to the motion of the planar parallelogram structure due to the trapezoidal architecture. The preliminary kinematic problems, namely, the mobility, forward/inverse geometry and singularity, are studied as well as the kinematic isotropy. A neutral isotropic configuration of the robot is identified for the structural design of the link lengths.


Kinematic isotropy; Parallel robot; Schonflies-motion generator; Singularity

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IAES International Journal of Robotics and Automation (IJRA)
ISSN 2089-4856, e-ISSN 2722-2586
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).

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