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论文类型： 会议论文

发表时间： 2018-01-01

收录刊物： Scopus、EI、CPCI-S

卷号： 50

页面范围： 331-339

关键字： Pick-and-place robot; Schonflies motion; HEXA; Reconfigurable platforms

摘要： This paper presents a HEXA parallel robots with reconfigurable platforms of Schonflies motion and its kinematic study. Four limbs of the robot forms a fully parallel Schonflies-motion robot, with a sixbar linkage to locate the second end-effector. The second end-effector is constrained by a four-bar linkage subject to a prescribed pose of the first end-effector as well as the two remaining limbs. The kinematic issues of the robot, i.e., the inverse geometry, kinematic constraints of the reconfigurable platforms and Jacobian matrices, are studied. Some transmission indices are defined to investigate the robot performance and the reachable workspace for both end-effectors are identified. The isocontours of the transmission indices over the regular workspace are visualized for graphical presentation of the robot's transmission performance.