A 6-DOF reconfigurable hybrid parallel manipulator

Gianmarc Coppola; Dan Zhang; Kefu Liu

doi:10.1016/j.rcim.2013.09.011

A 6-DOF reconfigurable hybrid parallel manipulator

Gianmarc Coppola, Dan Zhang, Kefu Liu

Research output: Journal article publication › Journal article › Academic research › peer-review

89 Citations (Scopus)

Abstract

This paper presents a case study on a reconfigurable hybrid parallel robot dubbed ReSl-Bot. It addresses the realm of reconfigurable 6-DOF parallel mechanisms, for sustainable manufacturing. It also features a self-reconfigurable architecture. A systematic analysis involving kinematics, constant orientation workspace, singularity and stiffness is developed in detail. Interesting features are discussed, revealing some unique characteristics of the studied architecture. A multi-objective optimization procedure is also carried out with weighted stiffness, dexterity and workspace volume as the performance indices.

Original language	English
Pages (from-to)	99-106
Number of pages	8
Journal	Robotics and Computer-Integrated Manufacturing
Volume	30
Issue number	2
DOIs	https://doi.org/10.1016/j.rcim.2013.09.011
Publication status	Published - 2014
Externally published	Yes

Keywords

6-DOF
Design optimization
Hybrid robot
Parallel kinematics
Reconfigurable parallel manipulator

ASJC Scopus subject areas

Control and Systems Engineering
Software
General Mathematics
Computer Science Applications
Industrial and Manufacturing Engineering

More information

10.1016/j.rcim.2013.09.011

Cite this

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AB - This paper presents a case study on a reconfigurable hybrid parallel robot dubbed ReSl-Bot. It addresses the realm of reconfigurable 6-DOF parallel mechanisms, for sustainable manufacturing. It also features a self-reconfigurable architecture. A systematic analysis involving kinematics, constant orientation workspace, singularity and stiffness is developed in detail. Interesting features are discussed, revealing some unique characteristics of the studied architecture. A multi-objective optimization procedure is also carried out with weighted stiffness, dexterity and workspace volume as the performance indices.

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KW - Design optimization

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KW - Parallel kinematics

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A 6-DOF reconfigurable hybrid parallel manipulator

Abstract

Keywords

ASJC Scopus subject areas

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