Robotics and Mechanisms Laboratory


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The 3-PRS is a three degree-of-freedom parallel manipulator with each leg having a spherical joint, revolute joint, and an actuated prismatic joint. The end effector, once attached to the three legs of the manipulator, is capable of moving in the z-direction (up and down) as well as being able to tip and tilt depending on the position of each leg. In addition to using the end effector as a plate to carry a payoad, the end effector can easily be modified to act as a cutting tool, pneumatic device, or even a visual laser.

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XY Table

Under fabrication is a two degree-of-freedom XY positioning table that will be integrated with the current 3-PRS, giving a total of five degrees-of-freedom. The XY table will have two independent axes, both of which will be actuated, to allow a workpiece (attached to the y-axis) to be oriented at any position within the axis limits. However, since the XY table and the 3-PRS manipulators will both be moving within their own range of limits there must be a computer program created which will control both manipulators in a manner that allows the workpiece to be oriented properly. Thus, the entire system will act primarily as a CNC machine for use in the labratory.

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PUMA 560

The PUMA 560 is one of the most common serial manipulators in robotics and industry. Six individual revolute joints give the Puma 560 six degrees-of-freedom, allowing the end effector of the manipulator to reach all points, except singularities, with multiple positions. Typically the manipulator can reach a given point in four poses: right elbow up, right elbow down, left elbow up, and left elbow down.

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Scorbot-ER V

Scorbot-ER V is a serial manipulator with six degrees of freedom, similiar to the Puma 560, mostly used for path planning. However, the Scorbot-ER V in the RaM lab is modified to utilize seven degrees-of-freedom; a rail was constructed on the base of the Scorbot to allow the entire manipulator to move, making the workspace of the manipulator larger than usual.

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