Developing a New Concept of Self Reconfigurable Intelligent Swarm Fixtures

Leonardo, Luis de; Zoppi, Matteo; Li, Xiong; Gagliardi, Serena; Molfino, Rezia

doi:10.1007/978-1-4471-4141-9_29

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Cited by 4 publications

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“…If all lockable joints are locked, QrPara will have further enhanced static and stiffness properties. Therefore, QrPara is suitable to be used as machine tools and flexible fixture [22].…”

Section: Introductionmentioning

confidence: 99%

QrPara: A New Reconfigurable Parallel Manipulator with 5-Axis Capability

Jin

Lian

Price

et al. 2015

Advances in Reconfigurable Mechanisms and Robots II

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Reconfigurable parallel manipulators (RPMs) have attracted a lot of attention recently due to their great flexibility and cost effectiveness for agile applications. In this paper, a new RPM, named QrPara is proposed. QrPara has a tripod architecture with two lockable passive revolute joints in each leg. By alternatively locking different sets of lockable joints, QrPara can be utilized as both a positional or orientational parallel manipulator, equivalent to 5-axis capability. Mobility analysis, kinematic model and reconfiguration strategy are presented. The new RPM is suitable for many applications, such as machine tools and flexible fixtures.

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“…If all lockable joints are locked, QrPara will have further enhanced static and stiffness properties. Therefore, QrPara is suitable to be used as machine tools and flexible fixture [22].…”

Section: Introductionmentioning

confidence: 99%