Abstract
The paper presents a new parallel reconfigurable robot with six degrees of freedom actuated from the fixed platform by six linear motors disposed in three guiding kinematic chains. With the help of fasteners, the robot can be reconfigured in one with five, four, three or two degrees of freedom. The equations for the determination of the inverse and direct kinematic models are presented. The robot is suitable for assembly and milling operations and can be also used as a module in a minimally invasive surgical system.
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Acknowledgments
This paper was supported by the project “Doctoral studies in engineering sciences for developing the knowledge based society-SIDOC” contract no. POSDRU/88/1.5/S/60078, project co-funded from European Social Fund through Sectorial Operational Program Human Resources 2007–2013 “Development and support of multidisciplinary postdoctoral programmes in major technical areas of national strategy of RDI” 4D-POSTDOC, POSDRU/89/1.5/S/52603, both co-funded from European Social Fund through Sectorial Operational Program Human Resources 2007–2013 and Scopes International Grant IZ74Z0-137361 entitled Creative Alliance in Research and Education focused on Medical and Service Robotics (CARE-Robotics).
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Konya, B., Plitea, N., Dadarlat, R., Vaida, C., Pisla, D. (2013). The Kinematics of a New Reconfigurable Parallel Robot with Six Degrees of Freedom. In: Viadero, F., Ceccarelli, M. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 7. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4902-3_5
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DOI: https://doi.org/10.1007/978-94-007-4902-3_5
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