A Reconfigurable Walking Parallel Robot
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  • Release Date: 2022-11-07
  • walking robot
  • on-structure machining
  • machining of large structures
  • hybrid robot
Video Introduction

This video is adapted from 10.3390/robotics11050110

A symmetric 3PRPR or 3PRRR parallel mechanism with three translational (3T) DOFs is used to perform three-axis machining tasks. Three attachment pads connected to passive spherical joints are used to attach the robot to the surface of a large structure. Two or three rotational degrees of freedom can be added to the robot to adapt to a large structure’s irregular surface geometry and perform five- or six-axis machining tasks. This is achieved through modular reassembly or joint locking that reconfigures the robot from a three-DOF robot to a five- or six-DOF robot. A serial module providing two rotational DOFs can be added to the 3T parallel mechanism to provide five DOFs. A parallel module, namely 3SPR or 3SU mechanism, can be added to the 3T parallel mechanism to provide six DOFs.

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Rosyid, A.; Stefanini, C.; El-Khasawneh, B. A Reconfigurable Walking Parallel Robot. Encyclopedia. Available online: https://encyclopedia.pub/video/video_detail/469 (accessed on 18 April 2024).
Rosyid A, Stefanini C, El-Khasawneh B. A Reconfigurable Walking Parallel Robot. Encyclopedia. Available at: https://encyclopedia.pub/video/video_detail/469. Accessed April 18, 2024.
Rosyid, Abdur, Cesare Stefanini, Bashar El-Khasawneh. "A Reconfigurable Walking Parallel Robot" Encyclopedia, https://encyclopedia.pub/video/video_detail/469 (accessed April 18, 2024).
Rosyid, A., Stefanini, C., & El-Khasawneh, B. (2022, November 07). A Reconfigurable Walking Parallel Robot. In Encyclopedia. https://encyclopedia.pub/video/video_detail/469
Rosyid, Abdur, et al. "A Reconfigurable Walking Parallel Robot." Encyclopedia. Web. 07 November, 2022.