Gantry Tau – A New Parallel Kinematic Robot

Paper in proceeding, 2004

A new parallel structure, the Gantry Tau, is introduced. The structure provides 3 degrees of freedom translational motion with a large workspace. The structure’s nominal kinematics is identical to the Linear Delta robot. In order to yield a design of the Gantry Tau with a large workspace volume and good kinematic properties, multi-criteria optimization is used. Different geometrical layouts are examined and the Pareto optimality between the objective functions is found.