PARALLEL RECONFIGURABLE ROBOT WITH SIX DEGREES OF FREEDOM AND TWO GUIDING KINEMATIC CHAINS OF THE PLATFORM AND ITS VARIANTS WITH FIVE, FOUR, THREE AND TWO DEGREES OF FREEDOM

被引：0

作者：

Plitea, Nicolae ^{[1
]}

Dadarlat, Rares ^{[1
]}

机构：

[1] Tech Univ Cluj Napoca, Dept Mech & Comp Programming, Memorandumului 28, RO-400114 Cluj Napoca, Romania

来源：

ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING | 2011年 / 54卷 / 01期

关键词：

reconfigurable parallel robot; multiple DoF; design; geometrical models;

D O I：

暂无

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

The paper presents a proposed structure for a new parallel robot with six degrees of freedom and two guiding kinematic chains of the platform actuated by four linear and two rotational motors. The robot can be reconfigured in parallel structures with five, four, three and two degrees of freedom actuated from the base. These structures, along with the inverse and direct geometrical models for each of them are presented. The robot can be used as module in minimally invasive procedures as well as for complex assembly and laser cutting operations.

引用

页码：49 / 60

页数：12

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