Các bản vẽ kỹ thuật để chế tạo là sản phẩm cuối cùng của khâu thiết kế. Chúng phải thỏa mãn hai mục đích: bao gồm đầy đủ tất cả các thông tin cần thiết để chế tạo và cũng còn là một tiêu chí kiểm soát kỹ thuật đối với các mức độ sửa chữa. Trước cuối thế kỷ 20, rất nhiều bản vẽ kỹ thuật được thực hiện bằng tay với sự trợ giúp của bảng vẽ cơ khí. Sự ra đời của máy tính với giao diện người dùng đồ họa đã có thể giúp thực hiện. | Architecture Design and Optimization of an On-the-Fly Reconfigurable Parallel Robot 383 Maximization of Function Modes for a Minimum Number of Design Parameters Function Decomposition Architecture Design via Enumeration Fig. 2. System design cycle of a reconfigurable parallel robot This decomposition is further explained in Fig. 2. It is plain to see that the arrow on the left side of the figure indicates the direction taken for the system decomposition. The arrow on the right side of the figure is where the majority of the architecture design occurs. Once the building blocks modules of the reconfigurable system have been identified then we can work our way from the bottom-up to establish the optimal system architecture. This is accomplished by first using the modules to form branch module candidates. A mobility analysis is performed and enumeration rules are used to eliminate those branch candidates that cannot fulfill the design requirements. A kinematic and workspace analysis is performed and then is used to arrive at the final optimal architecture design of the parallel robot. All of this is performed such that the final design can perform all of the function modes identified in Table 1. We note that each level of decomposition brings an additional level of modularity. The physical modularity was described above. During the architecture design the modularity inherent in the assembly of reconfigurable robots will be address. We also note that there is modularity in the mathematical computations and control for each system level. The kinematic computations for 6-DOF parallel manipulators 3-DOF tripod manipulators openchain branches including simple chains consisting of one joint are well established. This is also true of their subsequent control laws and algorithms. Although this is beyond the scope of this chapter it is a very important aspect of the advancement of reconfigurable systems. 384 Parallel Manipulators Towards New Applications 3. Module .
