PARALLEL RECONFIGURABLE ROBOT WITH SIX DEGREES OF FREEDOM AND TWO GUIDING KINEMATIC CHAINS OF THE PLATFORM AND ITS VARIANTS WITH FIVE, FOUR, THREE AND TWO DEGREES OF FREEDOM

Nicolae PLITEA, Rareş DĂDÂRLAT

Abstract


The paper presents a proposed structure for a new parallel robot with six degrees of freedom and two guiding kinematic chains of the platform actuated by four linear and two rotational motors. The robot can be reconfigured in parallel structures with five, four, three and two degrees of freedom actuated from the base. These structures, along with the inverse and direct geometrical models for each of them are presented. The robot can be used as module in minimally invasive procedures as well as for complex assembly and laser cutting operations.

Key words: reconfigurable parallel robot, multiple DoF, design, geometrical models.

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References


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