Conceptual Design and Dimensional Synthesis of A Reconfigurable Hybrid Robot  

Oleh:

Hu, S. Jack ; Meng, Li ; Chetwynd, Derek G. ; Tian, Huang ; Xueman, Zhao ; Dawei, Zhang

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: Journal of Manufacturing Science and Engineering vol. 127 no. 3 (Aug. 2005), page 647-653.
Topik: DESIGN; conceptual design; dimensional synthesis; hybrid robot

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: JJ93.7 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

Lihat Detail Induk

Isi artikel

This paper deals with the conceptual design of a novel four - degree - of - freedom (dof) modularized robot which is composed of a 2 - dof parallel mechanism plus a 2 - dof rotating head attached to the moving platform. Patented with the name Bicept, the robot is the two - dimensional version of the Tricept robot and is designed as a reconfigurable module that can readily be integrated with 1 - dof feed mechanism or a fixed base in order to form a set of reconfigurable robots with parallel - serial architecture. The dimensional synthesis of the 2 - dof parallel mechanism as a component of the Bicept robot is also carried out by solving a one - dimensional nonlinear equation associated with the strut -l ength constraint. The dimensional parameters corresponding to various width - height ratios of the work space are obtained via examples.

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