PENTAPOD: Development and construction if a novel parallel manipulator with a degree of freedom of five

  CAD-Model of PENTAPOD Robot Copyright: © IGMR

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High rigidity and good dynamic properties predestine handling devices with parallel kinematic structures, also called Parallel Kinematic Manipulator PKM, for solving a wide range of practical handling tasks. For rotationally symmetrical manufacturing tasks - e.g. drilling or milling - rotation about the axis normal to the platform is unnecessary. Here, the still relatively unexplored PKMs with degree of freedom five are more suitable, not least for cost and control reasons.

As part of this research work, a novel parallel manipulator with degree of freedom five, short PENTAPOD was developed, designed and built at the Institute of Mechanism Theory, Machine Dynamics and Robotics.


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Measuring stand for calibrating the PENTAPOD © Copyright: IGMR

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Representation of a PENTAPOD with attached sewing head © Copyright: IGMR

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