A new class of reconfigurable parallel kinematic machines

被引：103
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
收藏
页码：173 / 183
页数：11
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