KINEMATICS, WORKSPACE AND SINGULARITY ANALYSIS OF A MULTI-MODE PARALLEL ROBOT

被引：0

作者：

Chablat, Damien ^{[1
]}

Kong, Xianwen ^{[2
]}

Zhang, Chengwei ^{[2
]}

机构：

[1] Lab Sci Numer Nantes, UMR CNRS 6004, 1 Rue de la Noe, F-44321 Nantes, France

[2] Heriot Watt Univ, Sch Engn & Phys Sci, Edinburgh EH14 4AS, Midlothian, Scotland

来源：

PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2017, VOL 5A | 2017年

基金：

英国工程与自然科学研究理事会;

关键词：

Multi-operation-mode parallel robot; workspace analysis; singularity analysis; reconfiguration analysis; reconfigurable robot; RECONFIGURATION ANALYSIS; MECHANISM; MANIPULATOR; DESIGN;

D O I：

暂无

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity analysis of a 3-PRPiR parallel robot involving lockable Pi and R (revolute) joints. Here a Pi joint may act as a 1-DOF planar parallelogram if its lockable P (prismatic) joint is locked or a 2-DOF RR serial chain if its lockable P joint is released. The operation modes of the robot include a 3T operation modes to three 2T1R operation modes with two different directions of the rotation axis of the moving platform. The inverse kinematics and forward kinematics of the robot in each operation modes are dealt with in detail. The workspace analysis of the robot allow us to know the regions of the workspace that the robot can reach in each operation mode. A prototype built at Heriot-Watt University is used to illustrate the results of this work.

引用

页数：9

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