Synthesis of mechanisms with variable structure and geometry for reconfigurable manipulation systems

Task oriented structural synthesis principles are presented for reconfigurable manipulator systems based on mechanisms with variable structure and geometry. The proposed procedures of structure determination are demonstrated in application to the following 3 types of reconfigurable mechanisms: 1) translational parallel manipulators with decoupled rectilinear translations; 2) serial modular manipulation systems with alternately functioning active joints; 3) adjustable mechanisms for controlled screw displacements. In all 3 cases the concept of minimum degrees of freedom is used to find sought for topologies of reconfigurable mechanisms as the optimal solutions to given tasks.