Modular design of parallel robots with static redundancy

• Modular design of parallel robots with static redundancy is presented.
• The reconfigurable design allows for full finite mobility of constrained manipulators.
• A universally modular solution is found through the breakdown of the mobility equation.
• A wing morphing case study demonstrates the application.

Modularity in design for most mechanical systems can lead to higher reliability and reduction in cost for the design and build of the system. In this paper, the modular design of a new class of reconfigurable parallel robots is discussed. These robots can attain static redundancy without actuation redundancy and are ideal for applications that require fault tolerance and enhanced stiffness but may not necessarily require redundant actuation. Such applications can be found in the area of wing morphing for performance improvement. It is shown that a universal modular limb connectivity type exists that can be adopted for modular design of statically redundant parallel robots, regardless of the degree of static redundancy of the system. Additionally, the modular design approach is demonstrated through a case study for a morphing wing application.