Dorin Bogdan LEŞE, Nicolae PLITEA


Reconfigurable robots are actuated mechanisms capable of achieving different industrial applications, using the same equipment. Different configurations of these robots involve different degrees of freedom and different workspaces. This paper starts by presenting some achievements in this field and continues by presenting Recrob – the robot under study, the kinematics, workspace and singularity analysis of this robot. The mathematical models presented here are made for the general case in witch the robot has 6 degrees of freedom. Some configuration possibilities are also presented.

 Key words: Parallel robot, kinematics, workspace, singularity, reconfiguration.

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