A Parallel Reconfigurable Robot with Six Degrees of Freedom

被引：3

作者：

Vaida, Calin ^{[1
]}

Plitea, Nicolae ^{[1
]}

Lese, Dorin ^{[1
]}

Pisla, Doina ^{[1
]}

机构：

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

来源：

MECHANISMS, MECHANICAL TRANSMISSIONS AND ROBOTICS | 2012年 / 162卷

关键词：

Parallel robots; Reconfigurable structure; Kinematics; Workspace; Simulation; MOBILITY;

D O I：

10.4028/www.scientific.net/AMM.162.204

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Shorter development times, wide variety of products and manufacturing costs optimization lead towards the development of a new type of robots that are more flexible and adaptable to all these changes. The idea of reconfiguration is thus born, many studies being focused on enlarging and improving this concept. Reconfigurable robotic systems are those that can change their geometry, their mobility degree and be default, their workspace and their applicability. This paper presents a 6 degrees of freedom (DOF) reconfigurable robot, entitled RECROB, its kinematics and possible reconfigurations with different DOFs. Based on the analysis of structure two possible configurations are identified, one of them being modeled and simulated. The paper ends with the reachable workspace representation, conclusions and applicability of such a robot.

引用

页码：204 / 213

页数：10

共 17 条

[1]

Behnam S., 2006, P 2006 IEEE RSJ INT

[2] Development of reconfigurable machines [J].