UNSPECIFIED. (2005) Conceptual design and dimensional synthesis of a reconfigurable hybrid robot. JOURNAL OF MANUFACTURING SCIENCE AND ENGINEERING-TRANSACTIONS OF THE ASME, 127 (3). pp. 647-653. ISSN 1087-1357

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Abstract

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 vet 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-length constraint. The dimensional parameters corresponding to various width-height ratios of the work space are obtained via examples.

Item Type:	Journal Article
Subjects:	T Technology > TS Manufactures T Technology > TJ Mechanical engineering and machinery
Journal or Publication Title:	JOURNAL OF MANUFACTURING SCIENCE AND ENGINEERING-TRANSACTIONS OF THE ASME
Publisher:	ASME-AMER SOC MECHANICAL ENG
ISSN:	1087-1357
Official Date:	August 2005
Volume:	127
Number:	3
Number of Pages:	7
Page Range:	pp. 647-653
Identification Number:	10.1115/1.1947208
Publication Status:	Published
URI:	http://wrap.warwick.ac.uk/id/eprint/6613

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