| 摘要 |
This invention refers to a method for generating kinematical structures of a reconfigurable parallel robot and offers the possibility of establishing different structure varieties of parallel robots with different degrees of freedom. Interchangeable connection elements have been designed in order to be able to apply the method and generate the system. The method combines two types of kinematic chains: PSU (Prismatic - Spherical - Universal) which is constructed from a prismatic joint (1) as an active joint, a spherical joint (2), a connecting element with constant length (3) and respectively a universal joint (4); PSR (Prismatic - Spherical - Rotational) which is constructed from a prismatic joint (5) as an active joint, a spherical joint (6), a connecting element with constant length (7), and respectively a rotational joint (8). |
