Affiliation:
1. Department of Mechanical Engineering, Instituto Tecnológico de Celaya, TecNM, Celaya 38010, Guanajuato, Mexico e-mail:
Abstract
In this work, a new parallel manipulator with multiple operation modes is introduced. The proposed robot is based on a three-degrees-of-freedom (3DOF) parallel manipulator endowed with a three-dof central kinematic chain, where by blocking some specific kinematic pairs, the robot can modify its mobility. Hence, the robot manipulator is able to assume the role of a limited-dof or a nonredundant parallel manipulator. Without loss of generality, the instantaneous kinematics of one member of the family of parallel manipulators generated by the reconfigurable parallel manipulator, the three-RPRRC + RRPRU nonredundant parallel manipulator with decoupled motions, is approached by means of the theory of screws. For the sake of completeness, the finite kinematics of the robot is also investigated. Numerical examples are included with the purpose to clarify the method of kinematic analysis.
Reference25 articles.
1. An Optimally Reconfigurable Planar Gough-Stewart Machining Platform;Mech. Mach. Theory,2006
2. A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator;Int. J. Adv. Robot. Syst.
3. Kuo, C.-H., Dai, J. S., and Yan, H. S., 2009, “Reconfiguration Principles and Strategies for Reconfigurable Mechanisms,” ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2009), London, June 22–24, pp. 1–7.https://ieeexplore.ieee.org/document/5173802/
4. Multioperation Capacity of Parallel Manipulators Basing on Generic Kinematic Chain Approach;Mech. Mach. Theory,2017
5. Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator;ASME J. Mech. Des.,1999
Cited by
5 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献