A new class of reconfigurable parallel kinematic machines

被引：105

作者：

Carbonari, L. ^{[1
]}

Callegari, M. ^{[1
]}

Palmieri, G. ^{[2
]}

Palpacelli, M. -C. ^{[1
]}

机构：

[1] Polytech Univ Marche, Dept Ind Engn & Math Sci, I-60131 Ancona, Italy

[2] Fac Engn, I-22060 Novedrate, Italy

来源：

MECHANISM AND MACHINE THEORY | 2014年 / 79卷

关键词：

Reconfigurable robots; Parallel kinematics machines; Lockable joints; Study parameters; Algebraic geometry; ROBOT; MECHANISM; DESIGN;

D O I：

10.1016/j.mechmachtheory.2014.04.011

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The article presents a class of reconfigurable modular parallel robots stemming from the 3-CPS under-actuated topology. Proposed here is a conceptual design where the spherical joint which connects each leg to the end-effector is realized as a combination of revolute pairs; a locking system allows one to alternatively fix one of the revolute joints, giving the machine different 3-CPU kinematic configurations which correspond to different types of mobility. The first part of the paper demonstrates that the robot is able to perform different types of motion, specifically of pure translation and pure rotation; in the last part a sample design of the reconfigurable robot is proposed. (C) 2014 Elsevier Ltd. All rights reserved.

引用

页码：173 / 183

页数：11

共 34 条

[1] A Reconfigurable Robot With Lockable Cylindrical Joints [J].

Aghili, Farhad ;

Parsa, Kourosh .

IEEE TRANSACTIONS ON ROBOTICS, 2009, 25 (04) :785-797

[2]

[Anonymous], 2012, LATEST ADV ROBOT KIN, DOI DOI 10.1007/978-94-007-4620-6_47

[3] Development of reconfigurable machines [J].

Bi, Z. M. ;

Lang, Sherman Y. T. ;

Verner, M. ;

Orban, P. .

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2008, 39 (11-12) :1227-1251

[4] Optimal design of reconfigurable parallel machining systems [J].

Bi, Z. M. ;

Wang, Lihui .

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2009, 25 (06) :951-961

[5]

Callegari M., 2013, Patent application, Patent No. [RM2013A 000073, 02, 2013000073]

[6]

Callegari M., 2013, GRASPING IN ROBOTICS, P189

[7] Prototype design of a translating parallel robot [J].

Callegari, Massimo ;

Palpacelli, Matteo-Claudio .

MECCANICA, 2008, 43 (02) :133-151

[8] Dynamic modelling of a 3-CPU parallel robot via screw theory [J].

Carbonari, L. ;

Battistelli, M. ;

Callegari, M. ;

Palpacelli, M. -C. .

MECHANICAL SCIENCES, 2013, 4 (01) :185-197

[9] Task-oriented configuration design for reconfigurable parallel manipulator systems [J].

Dash, AK ;

Chen, IM ;

Yeo, SH ;

Yang, G .

INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING, 2005, 18 (07) :615-634

[10]

Fengfeng Xi, 2010, 2010 IEEE International Conference on Mechatronics and Automation (ICMA), P627, DOI 10.1109/ICMA.2010.5588036

← 1 2 3 4 →