Reconfigurable parallel mechanisms with planar five-bar metamorphic linkages

Ye, Wei; Fang, Yuefa; Guo, Sheng

doi:10.1007/s11431-013-5433-9

Cited by 27 publications

(18 citation statements)

References 29 publications

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“…On the other hand, the reconfigurable limb that has six DOFs in one configuration and exerts a constraint couple in the other configuration should be designed. It has been demonstrated that reconfigurable closed chains including kinematotropic chains and planar metamorphic mechanisms can be used in the construction of reconfigurable hybrid limbs [5,38]. According to the constraint description, a hybrid PMM-URR(PMM represents a planar metamorphic mechanism, U represents a universal joint, R represents a revolute joint) limb is proposed as in Fig.2.…”

Section: Design and Descriptionmentioning

confidence: 99%

Design and analysis of a reconfigurable parallel mechanism for multidirectional additive manufacturing

Fang

Guo

2017

Mechanism and Machine Theory

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Reconfigurable parallel mechanisms (RPMs) have the advantages of high stiffness, good dynamic performance due to their parallel structures, and can reconfigure themselves into various mobility configurations to accommodate different task requirements, which indicate that RPMs have the potential to be used in multidirectional additive manufacturing. Based on this application, this paper focuses on the design and analysis of a novel RPM. Degree of freedom (DOF) requirements in different stages of multidirectional additive manufacturing are analyzed. A hybrid limb that is composed of a planar metamorphic mechanism and a 4-DOF serial chain is presented, and then employed in the design of a three-legged RPM. Unified model for kinematic position analysis and the overall Jacobian matrix of the RPM are established. Singularity analysis including inverse kinematic singularity and direct kinematic singularity analysis are conducted. Workspaces of the RPM in different operation modes are evaluated. A prototype and some experiments are presented.

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Section: Design and Descriptionmentioning

confidence: 99%

Design and analysis of a reconfigurable parallel mechanism for multidirectional additive manufacturing

Fang

Guo

2017

Mechanism and Machine Theory

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“…The 1F2C-mechanism can be constructed as the diamond kinematotropic chain. 41 Furthermore, the 3C-mechanism and 3F-mechanism are the 4P spatial mechanism and 4R spherical mechanism respectively. As shown in Figure 4, the 4R spherical closed-loop mechanism, which has different configurations, is a metamorphic linkage.…”

Section: Closed-loop Metamorphic Linkagesmentioning

confidence: 99%

“…As for 4-DOF serial limbs, the screw system of FC-limbs is simultaneously contained in the C-limbs and F-limbs. 41 The wrench system of FC-limbs consists of a constraint couple and a constraint force. It can be found that the constraint provided by different limbs can be switched between one constraint couple and one constraint force.…”

Section: Construction Of Serial Limbsmentioning

confidence: 99%

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Structure synthesis of reconfigurable parallel mechanisms with closed-loop metamorphic linkages

Tian

Fang

Guo

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper proposes a class of closed-loop metamorphic linkages, which has different phases resulting from links annexing or locking of motors. Reconfigurable limbs are obtained by assembling these metamorphic linkages with kinematic chains. The potential metamorphic linkages are presented and the working phase transformation of the metamorphic linkages is analyzed. After adding suitable kinematic joints to the metamorphic linkage, the reconfigurable limbs whose constraint can be switched among different constraint forces and couples are synthesized. The serial limbs that can provide u ( u = 0, 1, 2) constraint forces and v ( v = 0, 1, 2) constraint couples are constructed by using screw theory method. The reconfigurable limbs which possess different configurations are combined with serial kinematic chains. By connecting the end moving platform to the fixed base with three identical kinematic limbs, a family of reconfigurable mechanisms with closed-loop metamorphic linkages is derived. These mechanisms have various output motion modes, such as 3R, 1T2R, 2T1R, and 3T.

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“…The reconfiguration analysis of a 2-DOF 3-RRRR parallel mechanism is presented in [6], which has six operation modes, two spherical translational modes, two planar motion modes and two sphere-on-sphere rolling modes. A reconfigurable parallel mechanism with planar five bar metamorphic linkages is presented in [7]. A self-calibration method, which is based on leg-end distance errors and measurement residues for the three-legged modular reconfigurable parallel robots are presented in [8] and [9], respectively.…”

Section: Introductionmentioning

confidence: 99%

A framework for the control of a parallel manipulator with several actuation modes

Chablat¹,

Jha²,

Caro³

2016

2016 IEEE 14th International Conference on Industrial Informatics (INDIN)

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There have been several research works on reconfigurable parallel manipulators in the last few years. Some robots are reconfigurable in the sense that the position of the anchor points on the moving platform or the actuated joints can be changed. Some problems may arise when one intends to make a prototype and develop its control scheme. A reconfigurable planar parallel robot, named NaVARo, is a 3-DOF planar parallel manipulator with eight actuation modes. The subject of this paper is about a control scheme of NaVARo while taking advantage of multiple sensors such as motor encoders, additional absolute encoders and magnetic sensors used to determine the current assembly mode of the manipulator. Finally, a methodology is presented to determine the home configuration of NaVARo.

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Reconfigurable parallel mechanisms with planar five-bar metamorphic linkages

Cited by 27 publications

References 29 publications

Design and analysis of a reconfigurable parallel mechanism for multidirectional additive manufacturing

Design and analysis of a reconfigurable parallel mechanism for multidirectional additive manufacturing

Structure synthesis of reconfigurable parallel mechanisms with closed-loop metamorphic linkages

A framework for the control of a parallel manipulator with several actuation modes

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