کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
802090 | 904349 | 2011 | 22 صفحه PDF | دانلود رایگان |
A reconfigurable robotic system permits multiple configurations having different characteristics, using mostly modularized building blocks. The goal of this paper is to investigate how the shape, dimensions and the distribution of singularities in the workspace for different configurations, with different degrees of freedom, of a reconfigurable robotic system, are changed. The computation of the workspace is based on the modularity property of the system. The presented results are also experimentally validated.
► Workspace analysis of a modular, reconfigurable parallel robotic family is presented.
► A modular approach suitable for the reconfigurable system is used.
► Joint limits and singularities are considered.
► Theoretical conclusions are experimentally verified.
Journal: Mechanism and Machine Theory - Volume 46, Issue 11, November 2011, Pages 1647–1668