Abstract
Type synthesis is a key issue in the design process due to critical parameters which affects the mobility and performance of any kind of mechanism. In this paper, it is proposed structural synthesis of kinematically redundant parallel manipulators based on the HEXA parallel robot using graph theory and theory of linear transformations. The solutions proposed in this paper include a multilevel location of the actuated joints by means of a reconfigurable fixed base. The most suitable solution is selected taking into consideration the manipulator workspace.
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Ramos Alvarado, R., Castillo Castañeda, E. (2019). Type Synthesis of Kinematically Redundant Parallel Manipulators Based on the HEXA Parallel Robot. In: Gasparetto, A., Ceccarelli, M. (eds) Mechanism Design for Robotics. MEDER 2018. Mechanisms and Machine Science, vol 66. Springer, Cham. https://doi.org/10.1007/978-3-030-00365-4_27
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DOI: https://doi.org/10.1007/978-3-030-00365-4_27
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