The structure design of the modular reconfigurable cabledriven parallel robot is depicted in detail, including the design methodology, mechanical description, and control architecture. Kinematic analysis of reconfigurable parallel manipulators. Design of reconfigurable cabledriven parallel robots. Pollard, klaus cappel, mike beeson dunlop tyres, andsam evans british national museum of science and industry recently, i had the rare opportunity to talk with two of the pioneers in the field of parallel robots, mr.
The results of a study on generalization of modeling approach without. A 6dof reconfigurable hybrid parallel manipulator pdf. A reconfigurable mobile robots system based on parallel mechanism, parallel manipulators, towards new applications, huapeng wu, intechopen, doi. The resulting 2rs2us parallel structure is shown in fig. Design of parallel mechanisms for flexible manufacturing with reconfigurable dynamics recon. N2 in this paper we put forward the idea of deforming the geometry of a parallel mechanism such that it can operate either as an equivalent rolling robot or quadruped robot. In this paper, the optimization is performed using a dijkstras based algorithm. By taking the branches as building blocks, many modular parallel robots can be constructed, from which a reconfigurable parallel robot can be realized. Importantly, due to the inherent design of the robot, once the vertical axis of the first revolute joint is driven toward the outer part of the base enough, the swing link must rotate 180 providing for an interesting alternative configuration. A total of seventyeight papers are divided into seven parts.
Kinematic modeling of reconfigurable parallel robots based on delta concept received. These robots lie at the intersection of continuum, parallel, and recongurable robotics fig. Parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight. A parallel reconfigurable robot with six degrees of. Aiming at the requirements of degrees of freedom for walking robots in complex and variable environments, this paper proposes a new concept of metamorphic parallel leg mechanism with a reconfigurable moving platform as the reconfigurable foot of the robot. This paper describes a new class of robot system consisting of elastic elements that form closed kinematic chains with recongurable morphology. Pdf workspace and singularity analysis for a reconfigurable. A reconfigurable parallel robot can accomplish such industrial tasks more efficiently than a delta robot. Porta, and federico thomas abstractparallel robots with three upu legs have received a lot of attention due to the possibility of assembling these legs so that the robot performs either a pure translational or a pure rotational motion. Pdf design and kinematic analysis of modular reconfigurable. Design of parallel mechanisms for flexible manufacturing.
This ongoing series of conferences will be covered in this ongoing collection of books. A new reconfigurable parallel manipulator with 5axis capability. Structural design and kinematics of a new parallel. Architecture design and optimization of an onthefly.
Path planning of the hybrid parallel robot for ankle. Plitea, modeling of a parallel reconfigurable robot with six degrees of mobility and its configurations with five, four, three and two degrees of mobility, acta tehnica napocensis, applied mathematics and mechanics, 541 2011. Mills and beno benhabib department of mechanical and industrial engineering, university of toronto, toronto, ontario, canada email. The first tripod remains fixed to the moving platform, and the links of the second tripod are designed to be detachable from the moving platform.
In this paper several aspects regarding the workspace analysis and singularity identification of a reconfigurable parallel robot are presented. Modular robotic systems can also be classified according to. A reconfigurable asymmetric 3upu parallel robot soheil sarabandi, patrick grosch, josep m. Optimal control for reducing the energy consumption of a. In this paper, we propose a robot system, which combines a parallel manipulator with an adjustable gripper. Selfcalibration of threelegged modular reconfigurable parallel robots based on legend distance errors.
Pdf kinematic design of modular reconfigurable inparallel robots. Design of reconfigurable planar parallel robot memorial. Advances in reconfigurable mechanisms and robots i jian s. Klaus cappel, and to learn remarkable facts about a. Design, kinematic and dynamic studies of a reconfigurable. Industrial parallel robots, such as the wellknown delta robot, are currently used in electronic, food and pharma. In order to develop reconfigurable delta robot with rotary and translatory actuated joints the generalized modeling approach is discussed. Several aspects of the kinematics and design for two variants with 4dof and 5dof of the. A novel reconfiguration strategy of a deltatype parallel. Motion planning for a novel reconfigurable parallel manipulator. Wei wang, houxiang zhang, guanghua zong and zhicheng deng april 1st 2008. Pdf this paper describes the kinematic design issues of a modular reconfigurable parallel robot.
Design of parallel mechanisms for flexible manufacturing with. Kinematic optimization of a reconfigurable spherical parallel. Design methodology the proposed reconfigurable parallel robot is co nstructed by two base tripods, each being a three degreesoffreedom dof parallel robot. It is composed of a moving platform connected to a fixed base by parallel legs. Design and development of a reconfigurable cable parallel. They can only be reconfigured with some form of manual assistance and. Reconfigurable parallel robot, control systems with identifier and parameter identification, control methods and realtime operation, manmachine interfaces modular reconfigurable robots consist of a collection of individual link and joint components that can be assembled into a number of different robot geometries. The prime focus of the paper is to realize the parallel manipulators applications for industry, space, medical science or commercial usage by orienting manipulator in the space at the high speed with a desired accuracy. A static reconfiguration denotes a manual rebuilding of a robot which might lead to a robot with new kinematic characteristics and a new workspace 1012. The mobility requirements are thus different for different configurations. In general, the reconfigurable parallel robot under study can be categorized to have attached and detached configurations. Typical configuration analysis of a modular reconfigurable.
Kinematic optimization of a reconfigurable spherical. A synthesis approach for reconfigurable redundant parallel kinematic mechanisms hay azulay, james k. Continuum parallel a snare wire snare needle tools crisp robot b fig. Motion planning for a novel reconfigurable parallel. Path planning of the hybrid parallel robot for ankle rehabilitation volume 34 issue 1 hamid rakhodaei, mozafar saadat, alireza rastegarpanah, che zulkhairi abdullah.
Introduction in the past twenty years, cabledriven parallel robots have been extensively studied in favor of their appealing advantages, compared to. Two types of robot modules, the fixeddimension joint. With reference to this g ure, points p i for i 1 4. Pdf reconfigurable chains of bifurcating type iii bricard linkages. This thesis will begin with the kinematic analysis for the manipulator to determinate the optimized dimension of the manipulator, including the workspace analysis, determinate of jacobian analysis, and direction selective index dsi analysis. In this work, the idea to synthesize robotic mechanisms with dynamic properties that are recon. In the attached configuration, the parallel robot is a 6dof parallel robot.
Proceedings of the 4th international conference on reconfigurable mechanisms and robots. Self reconfigurable robotic systems can potentially lower overall robot cost by making many copies of one or relatively few type of modules so. If this is the first time you use this feature, you will be asked to authorise cambridge core to connect with your account. In this paper, a reconfigurable cable parallel robot rcpr is designed and the experimental prototype is conducted based on the concept of reconfigurable robot. Self reconfiguring modular robotics essentials, popular science introduction to srcmr fundamentals and some of the profound consequences it will have. The proposed manipulator can reconfigure into nine different structural forms from an unconstrainedactive to a constrainedpassive state by means of hybrid activepassive motors. This paper presents a method for the design and analysis of reconfigurable parallel robots. Workspace and payloadcapacity of a new reconfigurable delta. This work presents the geometric design, kinematic and dynamic analysis of modular reconfigurable parallel manipulator having revolute, prismatic and spherical pairs. T1 a reconfigurable multimode mobile parallel robot. The mobility of a system is given by the following equation. This paper describes the kinematic design issues of a modular reconfigurable parallel robot. Design and development of a reconfigurable cable parallel robot. This chapter focuses on the development of a reconfigurable parallel robot capable.
Porta, and federico thomas abstract parallel robots with three upu legs have r eceived. Advances in reconfigurable mechanisms and robots i provides a selection of key papers presented in the second asmeiftomm international conference on reconfigurable mechanisms and robots remar 2012 held on 9th 11th july 2012 in tianjin, china. A reconfigurable multimode mobile parallel robot heriot. Pdf a reconfigurable robot for cabledriven parallel. An adjustable gripper as a reconfigurable robot with a. Importantly, due to the inherent design of the robot, once the vertical axis of the. Reconfigurable parallel continuum robots for incisionless. A 6dof reconfigurable hybrid parallel manipulator pdf free.
The metamorphic parallel leg mechanism has two kinds of degrees of freedom and. A reconfigurable mobile robots system based on parallel mechanism. Modulebased method for design and analysis of reconfigurable. Since robot parts are interchangeable within a robot and between different robots, machines can also replace faulty parts autonomously, leading to selfrepair. Pdf a reconfigurable asymmetric 3upu parallel robot. Pdf a modular parallel robotic system consists of a collection of individual standard units that can be assembled into various robot configurations. Centerconfiguration selection technique for the reconfigurable modular robot. Advances in reconfigurable mechanisms and robots i jian. Motion planning for a novel recongurable parallel manipul ator with lockable revolute joints patrick grosch, raffaele di gregorio, javier lo. Advances in reconfigurable mechanisms and robots i provides a selection of key papers presented in the second asmeiftomm international conference on reconfigurable mechanisms and robots remar 2012 held on 9 th11 th july 2012 in tianjin, china. In minimallyinvasive medicine, a crisp robot can be assembled into parallel structures inside the human body. High speed industrial robot omron adept quattro handling plastic cutlery duration.
Abstract this paper deals with recongurable cabledriven parallel robots rcdprs. Architecture design and optimization of an onthefly reconfigurable parallel robot 381 2. The proposed reconfigurable parallel robot is constructed by two base tripods, each being a three degreesoffreedom dof parallel robot. Workspace and payloadcapacity of a new reconfigurable. Introduction cabledriven parallel robots cdpr are a particular class of parallel robots whose legs consist of cables fig.
A parallel reconfigurable robot with six degrees of freedom. The robot contains nine linear actuators serially connecting two movable platforms and one stationary platform. As this medical application requires a remote center of motion rcm, a new type of 3rrr spherical parallel mechanism spm is proposed to manipulate the surgical drill. A reconfiguration strategy for reconfigurable cabledriven.
Advances in reconfigurable mechanisms and robots ii springerlink. Modular selfreconfiguring robotic systems or self reconfigurable modular robots are autonomous kinematic machines with variable morphology. A selfreconfigurable robot can be viewed as a network of nodes that can change their connections dynamically dynamically changing the topology requires continually determining the route theres a need to rediscover connection at the module level an adaptive communication ac protocol is designed for all modules to discover and monitor. Two types of robot modules, the fixeddimension joint modules and the variable dimension link modules that can be customdesigned rapidly, are used to facilitate the complex design effort. Index termsparallel mechanism, folding mechanism, quadruped robot, reconfigurable robot, rolling motion, multiple locomotion modes. The robot is termed reslbot short for reconfigurable swinglink parallel robot. Workspace and singularity analysis for a reconfigurable parallel robot. Workspace and singularity analysis for this reconfigurable parallel robot are presented in 37. Selfcalibration of threelegged modular reconfigurable.
Using the developed kinematic model, the reconfigurable parallel robot singularities within the generated. Asmeiftomm international conference on reconfigurable mechanisms and robots. In a parallel manipulator, as we mentioned before, the links are arranged in a closed rather than open kinematic chain. Though most systems implemented today are composed of rigid components, compliant mechanisms and deformable units have also been explored. Abstractthis paper introduces a class of reconfigurable parallel robots consisting of a fixed base and a moving platform connected by serial chains having. Cdprs have been widely investigated in the last two decades.
Given a rcdpr, a set of possible recongurations, a desired platform path and a description of the robot. Jun 03, 2016 high speed industrial robot omron adept quattro handling plastic cutlery duration. Kinematics, workspace and singularity analysis of a multimode. An adjustable gripper as a reconfigurable robot with a parallel structure abstract. A reconfigurable mobile robots system based on parallel mechanism 351 a the robot is in its home state. Workspace and singularity analysis for a reconfigurable. The robot is able to grasp objects with different sizes and shapes without using an additional gripper. Kinematic design of modular reconfigurable inparallel robots.
Two types of robot modules, the fixeddimension joint modules. A synthesis approach for reconfigurable redundant parallel. Reconfigurable parallel continuum robots for incisionless surgery. To verify the functionality of the robot, we present the results of a series of simulations, and perform the locomotion modes experiments on a manufactured prototype. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of.
A family of reconfigurable parallel robots can change motion. This paper presents a new configuration for ankle rehabilitation using a 9dof degree of freedom hybrid parallel robot. The structure of this paper is organized as follows. The novelty of this mechanism is the integration of a reconfigurable base that reorients the first revolute joint of the rrr legs. Beyond conventional actuation, sensing and control typically found in fixedmorphology robots, selfreconfiguring robots are also able to deliberately change their own shape by rearranging the connectivity of their parts, in order to adapt to new. Indeed, its pulleys can be displaced onto the robot frame. A rcdpr is able to change the locations of its cable exit points, the latter being dened as the connection points between the cables and the robot base frame. The robot can operate in ofine reconguration or online reconguration modes which offer wide range of solutions to the endusers. A reconfigurable mobile robots system based on parallel. Kinematics of a 6 ruu parallel robots with reconfigurable. With reference to this g ure, points p i for i 1 4 are the centers of the spherical pairs. The inherent modularity in a parallel robot lends itself as a natural candidate for reconfiguration. The paper in 8 describes a reconfigurable parallel robot composed of two tripods that modifies its number of dof by detaching some links.
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