A New Class of Adaptive Parallel Robots

摘要

In this manuscript, a novel class of parallel manipulators for flexible manufacturing is described. A parallel manipulator that is part of this class is proposed and studied. The proposed manipulator possesses machine flexibility such that it can adapt its properties to a multitude of future and unknown functional requirements. Notably, a combination of redundancy and a hybrid topology is utilized in this class. A systematic analysis is conducted that involves mobility, kinematics, instantaneous kinematics, Jacobian formulation, workspace, traditional and conservative stiffness mapping as well as optimal force distribution. These properties are discussed as their relation to flexibility. The proposed manipulator is also compared to the Stewart platform in force distribution circumstances. It is illustrated that the proposed robotic system is able to adapt and change its properties by changing its motion manifold or internal preloads actively.