A 6-DOF reconfigurable hybrid parallel manipulator

被引：84

作者：

Coppola, Gianmarc ^{[1
]}

Zhang, Dan ^{[1
]}

Liu, Kefu ^{[2
]}

机构：

[1] Univ Ontario, Inst Technol, Robot & Automat Lab, Oshawa, ON, Canada

[2] Lakehead Univ, Dept Mech Engn, Thunder Bay, ON P7B 5E1, Canada

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2014年 / 30卷 / 02期

关键词：

Reconfigurable parallel manipulator; Hybrid robot; Parallel kinematics; Design optimization; 6-DOF; SINGULARITY ANALYSIS; PLATFORM MECHANISM; KINEMATIC CHAINS; SCREW THEORY; DESIGN; FREEDOM; OPTIMIZATION; WORKSPACE; ROBOT; FAMILY;

D O I：

10.1016/j.rcim.2013.09.011

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This paper presents a case study on a reconfigurable hybrid parallel robot dubbed ReSl-Bot. It addresses the realm of reconfigurable 6-DOF parallel mechanisms, for sustainable manufacturing. It also features a self-reconfigurable architecture. A systematic analysis involving kinematics, constant orientation work-space, singularity and stiffness is developed in detail. Interesting features are discussed, revealing some unique characteristics of the studied architecture. A multi-objective optimization procedure is also carried out with weighted stiffness, dexterity and workspace volume as the performance indices. (C) 2013 Elsevier Ltd. All rights reserved.

引用

页码：99 / 106

页数：8

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