Abstract
This paper describes the kinematic design issues of a modular reconfigurable parallel robot. Two types of robot modules, the fixed-dimension joint modules and the variable dimension link modules that can be custom-designed rapidly, are used to facilitate the complex design effort. Module selection and robot configuration enumeration are discussed. The kinematic analysis of modular parallel robots is based on a local frame representation of the Product-Of-Exponentials (POE) formula. Forward displacement analysis algorithms and a workspace visualization scheme are presented for a class of three-legged modular parallel robots. Two three-legged reconfigurable parallel robot configurations are actually built according to the proposed design procedure.
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Yang, G., Chen, IM., Lim, W.K. et al. Kinematic Design of Modular Reconfigurable In-Parallel Robots. Autonomous Robots 10, 83–89 (2001). https://doi.org/10.1023/A:1026500704076
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DOI: https://doi.org/10.1023/A:1026500704076