Gantry típusú, párhuzamos hajtású robot modellezése és vizsgálata

Fast and accurate activity is the demand of actual industry. The use of industrial robots reflects those needs, and worldwide parallel structures are searched and developed, to assure a bigger and homogenous workspace for the manipulators. In this paper a gantry type parallel actuated manipulator structure is introduced. The geometric, kinematic and dynamic model of the recommended mechanism is presented, and the advantages are presented.