This paper presents a comparison study of workspace and dexterity of two Tricept units for Reconfigurable Parallel Kinematic Machines (RPKMs). The modular leg of RPKMs is designed and the RPKMs can be built by changing the setting of modules. A compositive kinematic model is developed accordingly. The inverse kinematics and Jacobian of these two Tricept units are analyzed. Considering workspace volume and dexterity, the effects of geometric size of some modules on the two Tricept units are discussed. In the end, comparison results of these two Tricept units are given. The comparison of two kinds of Parallel Kinematic Machines (PKMs) can be of help in the design and configuration planning of the RPKMs.
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