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Kinematical Capabilities of an Inversion of the Double Linked Fourbar for UAV Morphing Wing Actuation Read chapter Read first chapter

2013 | OriginalPaper | Chapter

The Kinematics of a New Reconfigurable Parallel Robot with Six Degrees of Freedom

Authors : B. Konya, N. Plitea, R. Dadarlat, C. Vaida, D. Pisla

Published in: New Trends in Mechanism and Machine Science

Publisher: Springer Netherlands

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Abstract

The paper presents a new parallel reconfigurable robot with six degrees of freedom actuated from the fixed platform by six linear motors disposed in three guiding kinematic chains. With the help of fasteners, the robot can be reconfigured in one with five, four, three or two degrees of freedom. The equations for the determination of the inverse and direct kinematic models are presented. The robot is suitable for assembly and milling operations and can be also used as a module in a minimally invasive surgical system.

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previous chapter Workspace and Singularities Analysis of a 6-DOF Parallel Mechanism with Two Kinematic Chains for Platform Guidance
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Plitea, N., Pisla, D., Vaida, C., Lese, D-B., Konya, B., Dadarlat, R., Scurtu, I., Sabou, C.: Parallel robots family with six degrees of freedom. Patent nr. A/10013/2011B
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Metadata
Title
The Kinematics of a New Reconfigurable Parallel Robot with Six Degrees of Freedom
Authors
B. Konya
N. Plitea
R. Dadarlat
C. Vaida
D. Pisla
Copyright Year
2013
Publisher
Springer Netherlands
Book
New Trends in Mechanism and Machine Science

Print ISBN: 978-94-007-4901-6

Electronic ISBN: 978-94-007-4902-3

Copyright Year: 2013

DOI
https://doi.org/10.1007/978-94-007-4902-3_5

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