KINEMATICS, WORKSPACE AND SINGULARITY ANALYSIS OF A NEW RECONFIGURABLE PARALLEL ROBOT

被引：0
|
作者：
Lese, Dorin-Bogdan [1 ]
Plitea, Nicolae [1 ]
机构：
[1] Tech Univ Cluj Napoca, Dept Mech Engn & 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：
Parallel robot; kinematics; workspace; singularity; reconfiguration;
D O I：
暂无
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
Reconfigurable robots are actuated mechanisms capable of achieving different industrial applications, using the same equipment. Different configurations of these robots involve different degrees of freedom and different workspaces. This paper starts by presenting some achievements in this field and continues by presenting Recrob - the robot under study, the kinematics, workspace and singularity analysis of this robot. The mathematical models presented here are made for the general case in witch the robot has 6 degrees of freedom. Some configuration possibilities are also presented.
引用
收藏
页码：151 / 160
页数：10
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