Parallel robots that change their group of motion
Parallel robots that change their group of motion
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DOI：
10.1007/978-1-4020-4941-5_6
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
P. Fanghella;C. Galletti;E. Giannotti
中科院分区：
文献类型：
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作者：
P. Fanghella;C. Galletti;E. Giannotti
在这项工作中，我们提出了几个并联机器人减少流动性，其平台可以改变其子组的位移时，机器人不断从一组位置转移到另一个。在某些情况下，平台的自由度的数量也可以改变，在其他情况下，仅修改位移组或其不变属性。利用基于位移群理论的单环运动链可动性的一些结果，讨论了综合这类机器人的方法。
In this work we present several parallel robots with reduced mobility whose platforms can change their subgroups of displacement when the robot is displaced continuously from one set of positions to another one. In some cases, also the number of degrees of freedom of the platform may change, in other cases, only the group of displacement or its invariant properties are modified. By using some results on mobility of single-loop kinematic chains based on the theory of the displacement groups, the way to synthesize these robots is discussed.