Abstract
A new surface mount system with a parallel arrangement of miniature manipulators was proposed for use in system down sizing. The miniature manipulator consists of a molded pantograph mechanism, which is composed of large-deflective hinges and links. The purpose in this study is to investigate the static and dynamic characteristics of the pantograph mechanism. The static characteristic is clarified to analyze the nonlinear torque at the hinges and the displacement error of the output point. The dynamic characteristic deals with the dynamic displacement error of the output point when the miniature manipulator, the pantograph mechanism, is driven at 20Hz, and the output point is moved on a U-shape for picking and placing works. We consider forced vibrations corresponding to natural frequencies and mode shapes of the pantograph mechanism. These investigations apply the Finite Element Method (FEM; ANSYS) and Multi-Body-Simulation approach (MBS; SIMPACK).
