Nicolae PLITEA, Bogdan KONYA


The paper presents a new parallel reconfigurable robot with six degrees of freedom and three guiding kinematic chains of the platform. The robot uses six linear motors to perform  movements in the workspace Depending on the area where it will be used ,the initial robot can be reconfigured easily and quickly in one with  five, four, three and two degrees of freedom. The algorithms for the determination of the inverse and direct geometrical models for some structures are presented. Key words: reconfiguration, parallel robot, precision, repeatability, degrees of freedom, end-effector, linear active joint.

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