Kinematic Design of Modular Reconfigurable In-Parallel Robots |
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Authors: | Guilin Yang I-Ming Chen Wee Kiat Lim Song Huat Yeo |
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Affiliation: | (1) Automation Technology Division, Gintic Institute of Manufacturing Technology, Singapore, 638075;(2) School of Mechanical & Production Engineering, Nanyang Technological University, Singapore, 639798 |
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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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Keywords: | kinematics reconfigurable parallel robot modular design |
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