Novel Design and Analysis of a Reconfigurable Parallel Manipulator Using Variable Geometry Approach

摘要

This paper presents a novel design and analysis of a reconfigurable parallel kinematic manipulator that can be applied to a machine tool. The proposed manipulator has three Degrees of Freedom (DOFs), including the rotations of a moving platform about the x and y axes and a translation of this platform along the z axis. A reconfigurable driving mechanism is introduced into this new parallel manipulator in order to adapt the actuator vector so that the various configurations can be applied for different task. Constraint analysis is investigated, inverse kinematic problem is solved and Jacobian analysis is conducted. Finally, the dynamic simulations are performed using Adams/View to verify dynamic performance.