A new family of reconfigurable parallel mechanisms with diamond kinematotropic chain

Ye, Wei; Fang, Yuefa; Zhang, Ketao; Guo, Sheng

doi:10.1016/j.mechmachtheory.2013.11.011

Cited by 84 publications

(40 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…In fact it is straightforward to find out the expression of the Jacobian matrix by differentiating with respect to time. It followṡ p = J tȧ (7) whereṗ = [ṗ x ,ṗ y ,ṗ z ] T is the velocity vector of the moving platform,ȧ = [ȧ 1 ,ȧ 2 ,ȧ 3 ] T is the vector of the actuated joint velocities, and J t = I 3 is the Jacobian matrix, which in this case is a 3 × 3 identity matrix.…”

Section: A Kinematics Of the 3-cpu Robot Of Pure Translationmentioning

confidence: 99%

See 1 more Smart Citation

Analysis and Design of a Reconfigurable 3-DoF Parallel Manipulator for Multimodal Tasks

Palpacelli

Carbonari

Palmieri

et al. 2015

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

This paper presents the design of a reconfigurable 3-DoF parallel kinematics manipulator. The main feature of the device is the ability to change the mobility of its moving platform from pure translation to pure rotation. The manipulator kinematics is conceived so that, when a particular configuration of the manipulator is reached, the transition between the two working modes is possible by changing the configuration of a metamorphic universal joint, which is used to connect the legs of the manipulator with the moving platform. The mechanical design of the joint, which is in fact a lockable spherical joint, is illustrated. With the joint integrated into the robot architecture, an instantaneous overconstrained kinematics is exploited to manage the phase of reconfiguration of the whole mechatronic device. A kineto-static analysis provides information about the influence of geometric parameters on its functional design. The manipulator shows simple kinematics and statics models, as well as good kinematic and static performances. Eventually, the versatility of the manipulator is shown by proposing some advanced manufacturing applications in which it could find use

show abstract

Section: A Kinematics Of the 3-cpu Robot Of Pure Translationmentioning

confidence: 99%

“…Many examples of applications of kinematotropic linkages to parallel kinematics manipulators can be found in the recent literature [7], [8]: the result is typically a manipulator whose end effector has the ability to perform different kinds of motion, for example, pure translation, pure rotation or a composition of translations and rotations.…”

mentioning

confidence: 99%

Analysis and Design of a Reconfigurable 3-DoF Parallel Manipulator for Multimodal Tasks

Palpacelli

Carbonari

Palmieri

et al. 2015

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

show abstract

“…Reconfigurable Parallel Manipulators (PMs), such as multi-mode PMs [1][2][3][4][5][6][7][8][9][10][11][12], have received much attention from a number of researchers in the past decade [13]. The main characteristics of multi-mode PMs include [7][8][9]: a) fewer actuators are needed for the moving platform to realize several specified motion patterns; and b) less time is needed in reconfiguring the PM since there is no need to disassemble the PM in the process of reconfiguration.…”

Section: Introductionmentioning

confidence: 99%

Kinematics, Workspace, and Singularity Analysis of a Parallel Robot With Five Operation Modes

Chablat

Kong

Zhang

2018

Journal of Mechanisms and Robotics

View full text Add to dashboard Cite

Most multi-mode parallel robots can change operation modes by passing through constraint singularities. This paper deals with a comprehensive kinematic study of a 3-DOF multi-mode 3-PRPiR parallel robot developed at Heriot-watt University. This robot is able to reach several operation modes without crossing any constraint singularity by using lockable Pi and R joints . Here a Pi joint may act as a 1-DOF planar parallelogram if its lockable P (prismatic) joint is locked or a 2-DOF RR serial chain if its lockable P joint is released. The operation modes of the robot include a 3T operation mode and four 2T1R operation modes with two different directions of the rotation axis of the moving platform. The inverse kinematics and forward kinematics of the robot in each operation mode are dealt with in detail. The joint space and workspace analysis of the robot allow us to know the regions of the workspace that the robot can reach in each operation mode. It is shown that the robot is able to change assembly mode in one operation mode by passing through another operation mode. IntroductionReconfigurable Parallel Manipulators (PMs), such as multi-mode PMs [1][2][3][4][5][6][7][8][9][10][11][12], have received much attention from a number of researchers in the past decade [13]. The main characteristics of multi-mode PMs include [7-9]: a) fewer actuators are needed for the moving platform to realize several specified motion patterns; and b) less time is needed in reconfiguring the PM since there is no need to disassemble the PM in the process of reconfiguration.A number of interesting multi-mode PMs have been proposed, such as multi-mode PMs with a 3-DOF (degrees-offreedom) translational mode and a 3-DOF planar mode or a 4-DOF 3T1R mode [7,8], PMs with two 3T1R (also Schönflies motion) operation mode which has three translational DOF and one rotational DOF operation modes [4], PMs with two 2T1R operation modes [5,6], and 2-DOF 3-4R PMs with both spherical translation mode and sphere-on-sphere rolling mode [9]. References [14,15] show 4-DOF 3T1R PMs that have an extra 2-DOF or 3-DOF motion mode in addition to the required 4-DOF 3T1R motion mode. It is noted the metamorphic PMs based on reconfigurable U (universal) or S (spherical) joints [16,17] and the multi-mode PMs with lockable joints [18,19] are in fact kinematically redundant PMs in nature and do not belong to multi-mode PMs that this paper focuses on. In addition, several methods have been proposed [14,15,[19][20][21][22][23][24][25] to the reconfiguration analysis of multi-mode PMs for identifying all the operation modes and the transition configurations of a PM.

show abstract

“…During the past two decades, reconfigurable Parallel Manipulators (PM) have received much attention from a number of researchers [1]. Several classes of multi-operation-mode PMs have been proposed [2][3][4][5][6][7][8][9][10][11][12][13]. Different names have been used for this class of PMs, such as PMs that change their group of motion, PMs with bifurcation of motion, or disassembly-free reconfigurable PMs.…”

Section: Introductionmentioning

confidence: 99%

Kinematics, Workspace and Singularity Analysis of a Multi-Mode Parallel Robot

Chablat¹,

Kong

Zhang

2017

Volume 5A: 41st Mechanisms and Robotics Conference

View full text Add to dashboard Cite

A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity analysis of a 3-PRPiR parallel robot involving lockable Pi and R (revolute) joints. Here a Pi joint may act as a 1-DOF planar parallelogram if its lockable P (prismatic) joint is locked or a 2-DOF RR serial chain if its lockable P joint is released. The operation modes of the robot include a 3T operation modes to three 2T1R operation modes with two different directions of the rotation axis of the moving platform. The inverse kinematics and forward kinematics of the robot in each operation modes are dealt with in detail. The workspace analysis of the robot allow us to know the regions of the workspace that the robot can reach in each operation mode. A prototype built at Heriot-Watt University is used to illustrate the results of this work.

show abstract

A new family of reconfigurable parallel mechanisms with diamond kinematotropic chain

Cited by 84 publications

References 18 publications

Analysis and Design of a Reconfigurable 3-DoF Parallel Manipulator for Multimodal Tasks

Analysis and Design of a Reconfigurable 3-DoF Parallel Manipulator for Multimodal Tasks

Kinematics, Workspace, and Singularity Analysis of a Parallel Robot With Five Operation Modes

Kinematics, Workspace and Singularity Analysis of a Multi-Mode Parallel Robot

Contact Info

Product

Resources

About