Disassembly-free reconfigurable manipulators

1
Disassembly-free reconfigurable manipulators
Dr. Xianwen Kong, Heriot-Watt University,
X.Kong_at_hw.ac.uk
Translational mode
Rotational mode
2
2
1
1
3
3
Transition configurations
Use three actuators to control 3 translations in
one mode and three rotations in another mode.
The above figure shows how to switch the robot
from one mode to another.