Abstract
Reconfigurable parallel manipulators (RPMs) have attracted a lot of attention recently due to their great flexibility and cost effectiveness for agile applications. In this paper, a new RPM, named QrPara is proposed. QrPara has a tripod architecture with two lockable passive revolute joints in each leg. By alternatively locking different sets of lockable joints, QrPara can be utilized as both a positional or orientational parallel manipulator, equivalent to 5-axis capability. Mobility analysis, kinematic model and reconfiguration strategy are presented. The new RPM is suitable for many applications, such as machine tools and flexible fixtures.
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Acknowledgements
The first author would like to acknowledge the funding support from the Engineering and Physical Science Research Council in United Kingdom under project no. EP/K004964/1. The second author likes to acknowledge the funding support from Chinese Scholarship Council.
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Jin, Y., Lian, B., Price, M., Sun, T., Song, Y. (2016). QrPara: A New Reconfigurable Parallel Manipulator with 5-Axis Capability. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_22
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DOI: https://doi.org/10.1007/978-3-319-23327-7_22
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