A 6-DOF reconfigurable hybrid parallel manipulator

作者：Coppola Gianmarc; Zhang Dan^*; Liu Kefu

来源：Robotics and Computer-Integrated Manufacturing, 2014, 30(2): 99-106.

DOI：10.1016/j.rcim.2013.09.011

• Reconfigurable parallel manipulator
• Hybrid robot
• Parallel kinematics
• Design optimization
• 6-DOF

This paper presents a case study on a reconfigurable hybrid parallel robot dubbed ReSl-Bot. It addresses the realm of reconfigurable 6-DOF parallel mechanisms, for sustainable manufacturing. It also features a self-reconfigurable architecture. A systematic analysis involving kinematics, constant orientation work-space, singularity and stiffness is developed in detail. Interesting features are discussed, revealing some unique characteristics of the studied architecture. A multi-objective optimization procedure is also carried out with weighted stiffness, dexterity and workspace volume as the performance indices.

• 出版日期2014-4