| 摘要 |
The invention relates to a method for obtaining, by reconfiguration, a system of parallel robots having various mobility degrees and to some modules necessary for such a reconfiguration, respectively. According to the invention, the method consists, in a first stage, in selecting the number of mobility degrees (M) of a robot, then selecting the number (b) of linkages of PSR type so that, finally, a number (a) of linkages of PSU type results based on the relation M=a+b, the reconfigurability of the structures being ensured by using the same mounting dimensions between the connection elements of some kinematic couples. The modules claimed by the invention have two combinations of linkages: a linkage (SPU) comprising three joints (1, 2 and 3), namely a spherical joint, a prism-shaped joint and a universal joint, and a linkage (SPR) comprising three joints (4, 5 and 6), namely a shperical joint, a prism-shaped joint and a rotation joint, where a reconfigurable joint can integrate only SPR linkages, only PSU linkages or combinations of PSR and PSU linkages, the linkages of the same type in a structure being identical. |
