Kinematics and design of two variants of a reconfigurable parallel robot

Abstract

In order to reach the desired results solutions must be different for each individual industrial application. For solving certain tasks special mechanisms should be developed for each application. Reconfigurable robots can be defined as a specific category of robots in which their components (individual joints and links) can be assembled in different configurations and geometries. In this paper several aspects of the kinematics and design for two variants of reconfigurable parallel robots are presented and some kinematics simulation results for these reconfigurable parallel robots are illustrated as well.