This paper presents a comparison study of workspace and dexterity of two Tricept units for Reconfigurable Parallel Kinematic Machines （RPKMs）. The modular leg of RPKMs is designed and the RPKMs can be built by chang...This paper presents a comparison study of workspace and dexterity of two Tricept units for Reconfigurable Parallel Kinematic Machines （RPKMs）. The modular leg of RPKMs is designed and the RPKMs can be built by changing tile setting of modules. A compositive kinematic model is developed accordingly. The inverse kinematics and Jacobian of these two Trieept units are analyzed. Considering workspaee volume and dexterity, the effeets of geometric size of some modules on the two Trieept units are discussed. In the end, comparison results of these two Tricept units are. given. The eomparison of two kinds of Parallel Kinematic Machines （PKMs） can be of help in the design and configuration planning of the RPKMs.展开更多
文摘This paper presents a comparison study of workspace and dexterity of two Tricept units for Reconfigurable Parallel Kinematic Machines （RPKMs）. The modular leg of RPKMs is designed and the RPKMs can be built by changing tile setting of modules. A compositive kinematic model is developed accordingly. The inverse kinematics and Jacobian of these two Trieept units are analyzed. Considering workspaee volume and dexterity, the effeets of geometric size of some modules on the two Trieept units are discussed. In the end, comparison results of these two Tricept units are. given. The eomparison of two kinds of Parallel Kinematic Machines （PKMs） can be of help in the design and configuration planning of the RPKMs.
