Design of reconfigurable planar parallel robot memorial. 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. 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. Motion planning for a novel reconfigurable parallel manipulator. Optimal control for reducing the energy consumption of a. The structure of this paper is organized as follows. The proposed manipulator can reconfigure into nine different structural forms from an unconstrainedactive to a constrainedpassive state by means of hybrid activepassive motors. 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. Jun 03, 2016 high speed industrial robot omron adept quattro handling plastic cutlery duration.
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. The resulting 2rs2us parallel structure is shown in fig. A reconfiguration strategy for reconfigurable cabledriven. Self reconfiguring modular robotics essentials, popular science introduction to srcmr fundamentals and some of the profound consequences it will have. The mobility requirements are thus different for different configurations. 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. Reconfigurable parallel continuum robots for incisionless. Pdf a reconfigurable robot for cabledriven parallel. 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. The robot contains nine linear actuators serially connecting two movable platforms and one stationary platform. Introduction cabledriven parallel robots cdpr are a particular class of parallel robots whose legs consist of cables fig.
A new reconfigurable parallel manipulator with 5axis capability. 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. Workspace and payloadcapacity of a new reconfigurable. In minimallyinvasive medicine, a crisp robot can be assembled into parallel structures inside the human body. Wei wang, houxiang zhang, guanghua zong and zhicheng deng april 1st 2008. This paper describes a new class of robot system consisting of elastic elements that form closed kinematic chains with recongurable morphology. Workspace and singularity analysis for a reconfigurable parallel robot. This work presents the geometric design, kinematic and dynamic analysis of modular reconfigurable parallel manipulator having revolute, prismatic and spherical pairs. An adjustable gripper as a reconfigurable robot with a. Architecture design and optimization of an onthefly reconfigurable parallel robot 381 2. Abstractthis paper introduces a class of reconfigurable parallel robots consisting of a fixed base and a moving platform connected by serial chains having. 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.
A 6dof reconfigurable hybrid parallel manipulator pdf. It is composed of a moving platform connected to a fixed base by parallel legs. Design of parallel mechanisms for flexible manufacturing. Pdf a reconfigurable asymmetric 3upu parallel robot. In general, the reconfigurable parallel robot under study can be categorized to have attached and detached configurations. Architecture design and optimization of an onthefly. This paper presents a method for the design and analysis of reconfigurable parallel robots. In this work, the idea to synthesize robotic mechanisms with dynamic properties that are recon. Index termsparallel mechanism, folding mechanism, quadruped robot, reconfigurable robot, rolling motion, multiple locomotion modes.
Kinematic analysis of reconfigurable parallel manipulators. Motion planning for a novel reconfigurable parallel. The robot is termed reslbot short for reconfigurable swinglink parallel robot. A 3rpr planar parallel robot is a kind of planar mechanism. Cdprs have been widely investigated in the last two decades. 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 the attached configuration, the parallel robot is a 6dof parallel robot. Importantly, due to the inherent design of the robot, once the vertical axis of the. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of. A reconfigurable mobile robots system based on parallel mechanism. We refer to this as the continuum recongurable incisionless surgical parallel crisp concept. Design and development of a reconfigurable cable parallel robot. Klaus cappel, and to learn remarkable facts about a. Pdf workspace and singularity analysis for a reconfigurable.
Two types of robot modules, the fixeddimension joint. Motion planning for a novel recongurable parallel manipul ator with lockable revolute joints patrick grosch, raffaele di gregorio, javier lo. Design of parallel mechanisms for flexible manufacturing with reconfigurable dynamics recon. 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. This chapter focuses on the development of a reconfigurable parallel robot capable. Selfcalibration of threelegged modular reconfigurable parallel robots based on legend distance errors. The paper in 8 describes a reconfigurable parallel robot composed of two tripods that modifies its number of dof by detaching some links.
By taking the branches as building blocks, many modular parallel robots can be constructed, from which a reconfigurable parallel robot can be realized. Selfcalibration of threelegged modular reconfigurable. T1 a reconfigurable multimode mobile parallel robot. Two types of robot modules, the fixeddimension joint modules.
Modular robotic systems can also be classified according to. Design of reconfigurable cabledriven parallel robots. 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. Using the developed kinematic model, the reconfigurable parallel robot singularities within the generated. Design, kinematic and dynamic studies of a reconfigurable. 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. Centerconfiguration selection technique for the reconfigurable modular robot. A total of seventyeight papers are divided into seven parts. Abstract this paper deals with recongurable cabledriven parallel robots rcdprs. 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. In this paper several aspects regarding the workspace analysis and singularity identification of a reconfigurable parallel robot are presented. A reconfigurable mobile robots system based on parallel mechanism, parallel manipulators, towards new applications, huapeng wu, intechopen, doi. A parallel reconfigurable robot with six degrees of. In this paper, the optimization is performed using a dijkstras based algorithm.
Mills and beno benhabib department of mechanical and industrial engineering, university of toronto, toronto, ontario, canada email. Workspace and singularity analysis for this reconfigurable parallel robot are presented in 37. The structure design of the modular reconfigurable cabledriven parallel robot is depicted in detail, including the design methodology, mechanical description, and control architecture. Workspace and payloadcapacity of a new reconfigurable delta. Proceedings of the 4th international conference on reconfigurable mechanisms and robots. A novel reconfiguration strategy of a deltatype parallel. Continuum parallel a snare wire snare needle tools crisp robot b fig. The mobility of a system is given by the following equation. With reference to this g ure, points p i for i 1 4 are the centers of the spherical pairs. Given a rcdpr, a set of possible recongurations, a desired platform path and a description of the robot. Pdf a modular parallel robotic system consists of a collection of individual standard units that can be assembled into various robot configurations. The inherent modularity in a parallel robot lends itself as a natural candidate for reconfiguration. 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. In this paper, we propose a robot system, which combines a parallel manipulator with an adjustable gripper.
Design methodology the proposed reconfigurable parallel robot is co nstructed by two base tripods, each being a three degreesoffreedom dof parallel robot. Modular selfreconfiguring robotic systems or self reconfigurable modular robots are autonomous kinematic machines with variable morphology. Kinematic modeling of reconfigurable parallel robots based on delta concept received. Advances in reconfigurable mechanisms and robots i jian.
Advances in reconfigurable mechanisms and robots i jian s. A 6dof reconfigurable hybrid parallel manipulator pdf free. Path planning of the hybrid parallel robot for ankle. Several aspects of the kinematics and design for two variants with 4dof and 5dof of the. Design of parallel mechanisms for flexible manufacturing with. Structural design and kinematics of a new parallel. A reconfigurable multimode mobile parallel robot heriot. Though most systems implemented today are composed of rigid components, compliant mechanisms and deformable units have also been explored. Kinematics of a 6 ruu parallel robots with reconfigurable.
With reference to this g ure, points p i for i 1 4. Kinematic design of modular reconfigurable inparallel robots. The results of a study on generalization of modeling approach without. Self reconfigurable robotic systems can potentially lower overall robot cost by making many copies of one or relatively few type of modules so. Porta, and federico thomas abstract parallel robots with three upu legs have r eceived. A reconfigurable asymmetric 3upu parallel robot soheil sarabandi, patrick grosch, josep m.
Indeed, its pulleys can be displaced onto the robot frame. 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. Introduction in the past twenty years, cabledriven parallel robots have been extensively studied in favor of their appealing advantages, compared to. These robots lie at the intersection of continuum, parallel, and recongurable robotics fig. Pdf kinematic design of modular reconfigurable inparallel robots. Industrial parallel robots, such as the wellknown delta robot, are currently used in electronic, food and pharma.
Modulebased method for design and analysis of reconfigurable. A reconfigurable parallel robot can accomplish such industrial tasks more efficiently than a delta robot. Advances in reconfigurable mechanisms and robots ii springerlink. A synthesis approach for reconfigurable redundant parallel kinematic mechanisms hay azulay, james k. This ongoing series of conferences will be covered in this ongoing collection of books. If this is the first time you use this feature, you will be asked to authorise cambridge core to connect with your account.
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. Kinematic optimization of a reconfigurable spherical parallel. A reconfigurable mobile robots system based on parallel. Asmeiftomm international conference on reconfigurable mechanisms and robots. Kinematic optimization of a reconfigurable spherical. The proposed reconfigurable parallel robot is constructed by two base tripods, each being a three degreesoffreedom dof parallel robot. Kinematics, workspace and singularity analysis of a multimode. 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. Path planning of the hybrid parallel robot for ankle rehabilitation volume 34 issue 1 hamid rakhodaei, mozafar saadat, alireza rastegarpanah, che zulkhairi abdullah.
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. 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 mechanism 351 a the robot is in its home state. This paper presents a new configuration for ankle rehabilitation using a 9dof degree of freedom hybrid parallel robot. Pdf this paper describes the kinematic design issues of a modular reconfigurable parallel robot. They can only be reconfigured with some form of manual assistance and. Reconfigurable parallel continuum robots for incisionless surgery. Since robot parts are interchangeable within a robot and between different robots, machines can also replace faulty parts autonomously, leading to selfrepair. Workspace and singularity analysis for a reconfigurable. This paper describes the kinematic design issues of a modular reconfigurable parallel robot.
In a parallel manipulator, as we mentioned before, the links are arranged in a closed rather than open kinematic chain. A synthesis approach for reconfigurable redundant parallel. The novelty of this mechanism is the integration of a reconfigurable base that reorients the first revolute joint of the rrr legs. General solution for the dynamic modeling of parallel robots. The metamorphic parallel leg mechanism has two kinds of degrees of freedom and. In order to develop reconfigurable delta robot with rotary and translatory actuated joints the generalized modeling approach is discussed. 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. In this paper, a reconfigurable cable parallel robot rcpr is designed and the experimental prototype is conducted based on the concept of reconfigurable robot. Design and development of a reconfigurable cable parallel. A parallel reconfigurable robot with six degrees of freedom. Pdf reconfigurable chains of bifurcating type iii bricard linkages. High speed industrial robot omron adept quattro handling plastic cutlery duration. The robot is able to grasp objects with different sizes and shapes without using an additional gripper. An adjustable gripper as a reconfigurable robot with a parallel structure abstract.
1217 1154 1044 1280 195 994 949 848 1388 725 551 362 1341 501 1084 1023 671 220 17 145 943 876 936 413 992 1197 1505 135 1470 925 1451 1310 1075 107 401 722 98 1473 196 609 1290