Topological reconfiguration can improve the static stiffness and fault tolerance of parallel robots,but the problem of whether the robot can reach any specified pose without singular configuration has not been solved.Therefore,this paper takes the reconfigurable 3-RRR planar parallel robot as the research object,and proposes a path planning method that can realize"point-to-point"tracking.Firstly,the inverse kinematics model before reconfiguration is established,and six paths based on topological reconfiguration are found.Then,a"four-step"planning algorithm is constructed,which is suitable for"point-to-point"path tracking of reconfigurable parallel robots with any degree of freedom.It has intuitive geometric interpretation and can eliminate all singularities.The effectiveness of the planning algorithm is verified by an example.Further,based on the screw theory,the input and output transfer indexes under each input mode are calculated,and the optimal solution of the input mode is obtained by using the local transfer index.Finally,the"point-to-point"path planning algorithm is extended to continuous path planning.
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