Reconfigurable Parallel Kinematic Manipulator for Flexible Manufacturing

Haage, Mathias; Dressler, Isolde; Robertsson, Anders; Nilsson, Klas; Brogårdh, Torgny; Johansson, Rolf

doi:10.3182/20090603-3-ru-2001.0224

Cited by 4 publications

(3 citation statements)

References 8 publications

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“…2 comprises a reconfigurable fixed platform with a fixed element (6) and three mobile elements in the form of a framing square (7a, 7b, 7c). These framing squares simultaneously modify the radius and height between the axes of the motors (8a, 8b, 8c) and the center of the fixed element (6). In the center of the fixed platform, there is a screw (1) driven by a fourth actuator (8d).…”

Section: Reconfiguration Proposalmentioning

confidence: 99%

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A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator

Balmaceda-Santamaría

Castillo-Castañeda

Gallardo-Alvarado

2016

International Journal of Advanced Robotic Systems

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This work introduces a novel reconfiguration strategy for a Delta-type parallel robot. The robot at hand, whose patent is pending, is equipped with an intermediate mechanism that allows for modifying the operational Cartesian workspace. Furthermore, singularities of the robot may be ameliorated owing to the inherent kinematic redundancy introduced by four actuable kinematic joints. The velocity and acceleration analyses of the parallel manipulator are carried out by resorting to reciprocal-screw theory. Finally, the manipulability of the new robot is investigated based on the computation of the condition number associated with the active Jacobian matrix, a well-known procedure. The results obtained show improved performance of the robot introduced when compared with results generated for another Delta-type robot.

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Section: Reconfiguration Proposalmentioning

confidence: 99%

“…A modular manipulator consists of a set of modules that can be assembled into robots with different attributes. Modularity has been used recursively in parallel manipulators; see for example [4–14].…”

Section: Introductionmentioning

confidence: 99%

A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator

Balmaceda-Santamaría

Castillo-Castañeda

Gallardo-Alvarado

2016

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…Un diseño modular consiste en un conjunto de módulos estandarizados, tales como actuadores, articulaciones, eslabones y efectores finales, los cuales pueden conectarse y desconectarse rápidamente para obtener diferentes configuraciones o grados de libertad en un robot manipulador, los trabajos presentados en Guilin et al (2001), Brisan (2007), Gogu (2007), Haage et al (2009) y Xi et al (2011) constituyen ejemplos de esta estrategia aplicada a robots manipuladores paralelos.…”

Section: Introductionunclassified