A Reconfigurable Parallel Robot for On-Structure Machining of Large Structures

This paper presents a novel walking hybrid-kinematics robot that can be reconfigured to have three, five, and six degrees of freedom (DOFs) for adsorption machining large structures. A symmetric 3PRPR or 3PRRR parallel mechanism with three translational (3T) DOFs is used perform three-axis tasks. Three attachment pads connected passive spherical joints are attach the surface structure. Two rotational added adapt structure’s irregular geometry five- six-axis achieved through modular reassembly joint locking reconfigures from three-DOF six-DOF robot. serial module providing two 3T provide five DOFs. module, namely 3SPR 3SU mechanism, The mobility, pose kinematics, differential singularities, workspace mechanisms alone combined discussed in this paper. It shown singularities easily avoided by making moving platform smaller than base, limiting range some joints, having an appropriate length links. Furthermore, method optimize was also discussed.