Virtual Models of Special Class of PARTNER Robots

This paper presents basic elements concerning modeling and simulation of parallel robots which are used for machine-tools development. The advantages of this new kind of machine-tools consist on their reconfigurability, on the possibility to improve accuracy of those machines etc. The main point of the paper is that few variants of parallel mechanisms with only one mobile platform and with number of degrees of freedom between 3 and 6 were emphases. It must be also remarked that these variants are developed into modular manner in order to ensure full reconfigurability. The paper presents also numerical results obtained with the virtual models which were developed