Aspects of reconfigurability of a special class of parallel robots

摘要

A parallel robot is a mechanism with at least one closed loop, topologically formed from one fixed platform and at least one mobile platform. These platforms are connected by at least two open loops. A modular parallel robot consists into independent designed modules, which contain actuator(s), passive joints and links. These modules can be connected into a given topology in order to obtain a large variety of parallel robots. The main advantages of modular design consist into great flexibility, ease of maintenance, short time for development of new variant etc. This paper presents some results in development of a special class of parallel robots. Thus, reconfigurable and modular robots with three, four, five and six degrees of freedom and only one mobile platform were emphasised and modelled. Also, virtual models and prototypes are presented.