Exploring a Re-configurable Parallel Robot for Space Applications

摘要

Research into new design methods for reconfigurable systems is being carried out at the National Research Council of Canada. In this paper, a re-configurable parallel robot is presented. Though the initial design was to develop a compact manufacturing cell, its re-configurable features may be valuable. Hence, we present this paper for the purpose of exploring its space applications. The presented system is constructed by two modular units. The first one is called slide, made of a three-DOF prismatic joint system with fixed-leg length. The second is called swing, made of a three-DOF revolute joint system. While the slide is fixed to the moving platform, the swing is detachable from the moving platform by utilizing magnetic joints. Such a design allows varying topology that can be re -configured to perform multi-mode tasks with emergency behaviors. These features may be attractive to space applications.