Publisher： Edp Sciences
E-ISSN： 2261-236x|82|issue|03004-03004
ISSN： 2261-236x
Source： MATEC Web of conference, Vol.82, Iss.issue, 2016-10, pp. : 03004-03004
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Abstract
This paper presents the design approach for 3-DOF (degrees-of-freedom) reconfigurable planar parallel mechanism (RPPM) with modular kinematic limbs and hybrid platform. Using the proposed approach, a series of kinematic models with rotatability are obtained. At first, the main models of PPMs are constructed. Then a series of configuration models of PPM modules are reconstructed. And the new configuration families of 3-DOF PPMs are obtained. Finally, the motion trajectories of three driven layout configurations are simulated, and the results show that the hybrid-loop platform can expand the workspace of PPM. Especially, the configurations of the PPM can transform from the two operations modes to the original mode.
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