Research Article
A Parallel Manipulator with Planar Configurable Platform and Three End-Effectors
Figure 3
Two opposite terminal links assume the role of two end-effectors, and , able to adopt arbitrary poses. Thereby, the configurable parallel manipulator is designed to work as two cooperative robots. This mechanical device is kinematically equivalent to two conventional three-degrees-of-freedom planar parallel manipulators. However, the rigidity and accuracy would be improved due to the fact that the end-effectors and are interconnected through the remaining terminal links.