Design and Simulation of 3-DOF Reconfigurable Planar Parallel Robot

被引：0

作者：

Hou, Zhili ^{[1
]}

Wu, Wenge ^{[1
]}

Li, Ruiqin ^{[1
]}

Qin, Huibin ^{[1
]}

机构：

[1] North Univ China, Sch Mech & Power Engn, Taiyuan 030051, Peoples R China

来源：

2016 INTERNATIONAL CONFERENCE ON DESIGN, MECHANICAL AND MATERIAL ENGINEERING (D2ME 2016) | 2016年 / 82卷

关键词：

D O I：

10.1051/matecconf/20168203004

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents the design approach for 3-DOF (degrees-of-freedom) reconfigurable planar parallel mechanism (RPPM) with modular kinematic limbs and hybrid platform. Using the proposed approach, a series of kinematic models with rotatability are obtained. At first, the main models of PPMs are constructed. Then a series of configuration models of PPM modules are reconstructed. And the new configuration families of 3-DOF PPMs are obtained. Finally, the motion trajectories of three driven layout configurations are simulated, and the results show that the hybrid-loop platform can expand the workspace of PPM. Especially, the configurations of the PPM can transform from the two operations modes to the original mode.

引用

页数：6

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