Abstract
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.
Highlights
Nowadays, flexible manufacturing systems are highly advisable in order to increase, among other issues, the productivity and competitiveness of small and mediumsized manufacturing industries
The reconfiguration of parallel manipulators using variable geometry consists of changing some dimensions of the robot with the purpose of generating new postures on the same parallel manipulator
With the aim to solve αi from Eq (11), the half-angle trigonometric identity is applied and simplification yields: In order to show the shape of the workspace and obtain its approximate volume generated by the reconfiguration, the inverse position analysis is applied
Summary
Flexible manufacturing systems are highly advisable in order to increase, among other issues, the productivity and competitiveness of small and mediumsized manufacturing industries In this context, a reconfig‐ urable mechanism may be implemented owing to the fact that its topology can be quickly adjusted according to a specific task. The reconfiguration of parallel manipulators using variable geometry consists of changing some dimensions of the robot with the purpose of generating new postures on the same parallel manipulator In this context, the following should be cited: a double planar parallel reconfigurable manipulator presented in [15], the reconfigurable platform based on the Stewart-Gough platform [16], the reconfigur‐ able parallel mechanism with an adjustable base designed in [17] and a new family of reconfigurable parallel mecha‐ nisms [18].
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
