Frontiers of Mechanical Engineering >
Module-based method for design and analysis of reconfigurable parallel robots
Received date: 15 Apr 2010
Accepted date: 01 Sep 2010
Published date: 05 Jun 2011
Copyright
This paper presents a method for the design and analysis of reconfigurable parallel robots. The inherent modularity in a parallel robot lends itself as a natural candidate for reconfiguration. By taking the branches as building blocks, many modular parallel robots can be constructed, from which a reconfigurable parallel robot can be realized. Among three types of reconfigurations, namely, geometry morphing, topology morphing, and group morphing, the method presented here is for the last two reconfigurations, thereby advancing the current research that is mainly limited to geometry morphing. It is shown that the module-based method not only provides a systematic way of designing a reconfigurable parallel robot, but also offers a unified modeling for robot analysis. Two examples are provided, one showing the topology morphing and the other showing the group morphing.
Key words： reconfigurable parallel robot; topology morphing; group morphing
Fengfeng XI , Yuwen LI , Hongbo WANG . Module-based method for design and analysis of reconfigurable parallel robots[J]. Frontiers of Mechanical Engineering, 2011 , 6(2) : 151 -159 . DOI: 10.1007/s11465-011-0121-6
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