Modular design of parallel robots with static redundancy
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- 作者：Amin Moosaviana ; smoosavi@ryerson.ca" class="auth_mail" title="E-mail the corresponding author ; Fengfeng (Jeff) Xia ; b ; fengxi@ryerson.ca" class="auth_mail" title="E-mail the corresponding author
- 关键词：Reconfigurable robots ; Parallel kinematic manipulators ; Static redundancy ; Under-actuation ; Modular design
- 刊名：Mechanism and Machine Theory
- 出版年：2016
- 出版时间：February 2016
- 年：2016
- 卷：96
- 期：part_P1
- 页码：26-37
- 全文大小：907 K
文摘
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Modular design of parallel robots with static redundancy is presented.
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The reconfigurable design allows for full finite mobility of constrained manipulators.
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A universally modular solution is found through the breakdown of the mobility equation.
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A wing morphing case study demonstrates the application.