Reconfiguration Analysis of a Fully Reconfigurable Parallel Robot
This paper presents a new method for the topological reconfiguration of a parallel robot. Using the existing structure of a full six degree-of-freedom parallel robot, limited mobility modes can be realized easily without the need to remove branch modules from the robot structure. Instead, branch modules are reconfigured from an unconstrained-active to a constrained-passive state by means of hybrid active/passive motors and reconfigurable universalto-revolute joints. In doing so, the robot is capable of assuming a configuration that uses only the degrees-of-freedom required to complete a given task. However, due to the system setup, there are multiple candidate configurations available, each with its own workspace and reach capabilities, thus guidance is needed in selecting the appropriate configuration. An isomorphic and workspace analysis are performed to identify the capabilities of each configuration. To accomplish this, a branch-based mobility analysis, and a parametric kinematic constraint equation are formulated. It is shown that limited mobility modes with different isomorphic configurations can be synthesized automatically with this method.
Reconfigurable parallel robots Kinematics Mobility
Allan Daniel Finistauri Fengfeng Xi
Department of Aerospace Engineering, Ryerson University,350 Victoria Street, Toronto, ON M5B 2K3, Canada
国际会议
天津
英文
295-307
2012-07-08（万方平台首次上网日期，不代表论文的发表时间）