MATEC Web Conf.
Volume 82, 20162016 International Conference on Design, Mechanical and Material Engineering (D2ME 2016)
|Number of page(s)||6|
|Section||Chapter 3: Design Engineering|
|Published online||31 October 2016|
Design and Simulation of 3-DOF Reconfigurable Planar Parallel Robot
School of Mechanical and Power Engineering, North University of China, 030051 Taiyuan, China
a Corresponding author: firstname.lastname@example.org
This paper presents the design approach for 3-DOF (degrees-of-freedom) reconfigurable planar parallel mechanism (RPPM) with modular kinematic limbs and hybrid platform. Using the proposed approach, a series of kinematic models with rotatability are obtained. At first, the main models of PPMs are constructed. Then a series of configuration models of PPM modules are reconstructed. And the new configuration families of 3-DOF PPMs are obtained. Finally, the motion trajectories of three driven layout configurations are simulated, and the results show that the hybrid-loop platform can expand the workspace of PPM. Especially, the configurations of the PPM can transform from the two operations modes to the original mode.
© The Authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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