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Conceptual design and dimensional synthesis of a reconfigurable hybrid robot

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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. doi:10.1115/1.1947208

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Official URL: http://dx.doi.org/10.1115/1.1947208

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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
Dates:
DateEvent
August 2005UNSPECIFIED
Volume: 127
Number: 3
Number of Pages: 7
Page Range: pp. 647-653
DOI: 10.1115/1.1947208
Publication Status: Published

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