Computation and analysis of the workspace of a reconfigurable parallel robotic system

被引：40

作者：

Brisan, Cornel ^{[1
]}

Csiszar, Akos ^{[1
]}

机构：

[1] Tech Univ Cluj Napoca, Cluj Napoca 400114, Romania

来源：

MECHANISM AND MACHINE THEORY | 2011年 / 46卷 / 11期

关键词：

Parallel robot; Reconfigurable; Modular; Workspace; NON-UNILATERAL CONSTRAINTS; MANIPULATOR; SINGULARITIES; DESIGN;

D O I：

10.1016/j.mechmachtheory.2011.06.014

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A reconfigurable robotic system permits multiple configurations having different characteristics, using mostly modularized building blocks. The goal of this paper is to investigate how the shape, dimensions and the distribution of singularities in the work space for different configurations, with different degrees of freedom, of a reconfigurable robotic system, are changed. The computation of the workspace is based on the modularity property of the system. The presented results are also experimentally validated. (C) 2011 Elsevier Ltd. All rights reserved.

引用

页码：1647 / 1668

页数：22

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