A Novel Reconfigurable 3-URU Parallel Platform

被引：4

作者：

Carbonari, Luca ^{[1
]}

Corinaldi, David ^{[1
]}

Palpacelli, Matteo ^{[1
]}

Palmieri, Giacomo ^{[1
]}

Callegari, Massimo ^{[1
]}

机构：

[1] Polytech Univ Marche, I-60131 Ancona, AN, Italy

来源：

ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS | 2018年 / 49卷

关键词：

Parallel kinematics machine; Algebraic geometry; Study's parameters; Lockable joint; MECHANISMS; ROBOT;

D O I：

10.1007/978-3-319-61276-8_8

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A novel parallel robot stemming from the 3-SRU (spherical-revolute-universal) under -actuated joints topology is presented in this paper. The conceptual design here proposed takes advantage of a reconfigurable universal joint obtained by locking, one at a time, different rotations of a spherical pair by means of an automatized system. Such local reconfiguration causes a slight modification of the robot legs mobility which is enough to provide the end-effector with different kinds of motion. The first part of the paper is dedicated at formally demonstrating the motion capabilities offered by the 3-URU kinematics; in the second part, a mechanical solution for the realization of the reconfigurable joint is shown.

引用

页码：63 / 73

页数：11

共 18 条

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[2]

Dai J., 2012, ADV RECONFIGURABLE M

[3] Reconfigurability and unified kinematics modeling of a 3rTPS metamorphic parallel mechanism with perpendicular constraint screws [J].