Type synthesis of multi-mode mobile parallel mechanisms based on refined virtual chain approach

Liu, Yang; Li, Yezhuo; Yao, Yan‐an; Kong, Xianwen

doi:10.1016/j.mechmachtheory.2020.103908

Cited by 13 publications

(9 citation statements)

References 28 publications

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“…Recent advances in the interdisciplinary fields of planetary exploration [1][2][3][4][5], reconfigurable mechanism [6][7][8][9][10], and autonomous robot [11][12][13][14][15] indicate that the multifunctional and robotic detection probe will become one of the development trends. To survive in the unknown even hostile extraterrestrial environment, the complex task requirements are rendered with the hopes of merging functions of adjusting and landing, and roving and operating into a versatile counterpart-the reconfigurable legged mobile lander (ReLML).…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, since the concept of multi-operational (i.e. multi-mode) parallel mechanism was first proposed by Zlatanov [46], many further works on multi-mode topological synthesis [7,36,37,47] and reconfiguration analysis [10,40,48] have achieved fruitful results. However, there are still some challenges for advancing the achievement transformation from theory to technology, such as how to conduct an efficient and practicable means for mode switch and how to take good care of multiple performance demands in each mode with respect to each operating condition.…”

Section: Introductionmentioning

confidence: 99%

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Singularity Loci, Bifurcated Evolution Routes, and Configuration Transitions of Reconfigurable Legged Mobile Lander From Adjusting, Landing, to Roving

Han

Zhou

Guo

2021

Journal of Mechanisms and Robotics

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This paper presents the reconfigurable legged mobile lander (ReLML) with its modes from adjusting, landing, to roving. Based on the invented metamorphic variable-axis revolute hinge, the actuated link has three alternative phases of rotating around either of two orthogonal topological axes or locking itself to the base as a rigid body. This property enables the ReLML to switch among three modes and within two driving states (as the adjusting and roving modes are active mechanisms driven by motors, while the landing truss is regarded as a passive mechanism driven by the touchdown impact force exerted on footpad). The unified differential kinematics for the ReLML is established by the screw-based Jacobian modeling, unifying both active and passive operation phases throughout all modes. Afterward, the distributions of workspaces and singularity loci in three modes are discussed for the multi-solution sake, and the selection principle of the practicable solution pattern is proposed to obtain the actual workspace, singularity loci, and configurations. The results stemming from the Jacobian-matrix-based method and the Grassmann-geometry-based method give mutual authentication and match well. Finally, as prospects for promising applications, four bifurcated evolution routes and configuration transitions are figured out and compared.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Singularity Loci, Bifurcated Evolution Routes, and Configuration Transitions of Reconfigurable Legged Mobile Lander From Adjusting, Landing, to Roving

Han

Zhou

Guo

2021

Journal of Mechanisms and Robotics

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“…These structural groups are then called the Assur groups, which can be of different classes and orders. The existing methods of structural synthesis of mechanisms and manipulators are devoted to the determination of their structural schemes according to the given numbers of DOFs, links, kinematic pairs and their types [9][10][11][12][13][14][15]. A review of research on the synthesis of types of parallel robotic mechanisms was undertaken in [16].…”

Section: Introductionmentioning

confidence: 99%

Structural-Parametric Synthesis of the RoboMech Class Parallel Mechanism with Two Sliders

et al. 2021

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This paper addresses the structural-parametric synthesis and kinematic analysis of the RoboMech class of parallel mechanisms (PM) having two sliders. The proposed methods allow the synthesis of a PM with its structure and geometric parameters of the links to obtain the given laws of motions of the input and output links (sliders). The paper outlines a possible application of the proposed approach to design a PM for a cold stamping technological line. The proposed PM is formed by connecting two sliders (input and output objects) using one passive and one negative closing kinematic chain (CKC). The passive CKC does not impose a geometric constraint on the movements of the sliders and the geometric parameters of its links are varied to satisfy the geometric constraint of the negative CKC. The negative CKC imposes one geometric constraint on the movements of the sliders and its geometric parameters are determined on the basis of the Chebyshev and least-square approximations. Problems of positions and analogues of velocities and accelerations of the considered PM are solved to demonstrate the feasibility and effectiveness of the proposed formulations and case of study.

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“…Furthermore, the integration of multiple mobile modes was realized based on variable topology (Tian et al , 2017; Li et al , 2018). Based on refined virtual chain, an approach to synthesis of polyhedron mobile mechanisms with multi-mode was proposed to construct symmetrical and asymmetrical structure (Liu et al , 2020).…”

Section: Introductionmentioning

confidence: 99%

“…Lyder et al (2007, 2008) designed a modular reconfigurable robot Odin based on tetrahedral combination structure. Liu et al (2018, 2019, 2020) successively carried out locomotion optimization for a tetrahedron-based mechanism, designed a crawling robot with a novel combination method of tetrahedral units and proposed a deployable tetrahedron-based mobile robot constructed by Sarrus linkages. Flexible or soft structures, joints and driving modes were also introduced into the design of tetrahedral moving mechanism.…”

Section: Introductionmentioning

confidence: 99%

Design and locomotion analysis of the tetrahedral mobile robot with only revolute joints (TMRR)

Wang

et al. 2021

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Purpose The purpose of this paper is to introduce a tetrahedral mobile robot with only revolute joints (TMRR). By using rotation actuators, the mechanism of the robot gains favorable working space and eliminates the engineering difficulties caused by the multilevel extension compared with liner actuators. Furthermore, the rolling locomotion is improved to reduce displacement error based on dynamics analysis. Design/methodology/approach The main body of deforming mechanism with a tetrahedral exterior shape is composed of four vertexes and six RRR chains. The mobile robot can achieve the rolling locomotion and reach any position on the ground by orderly driving the rotation actuators. The global kinematics of the mobile modes are analyzed. Dynamics analysis of the robot falling process is carried out during the rolling locomotion, and the rolling locomotion is improved by reducing the collision impulse along with the moving direction. Findings Based on global kinematics analysis of TMRR, the robot can realize the continuous mobility based on rolling gait planning. The main cause of robot displacement error and the corresponding improvement locomotion are gained through dynamic analysis. The results of the theoretical analysis are verified by experiments on a physical prototype. Originality/value The work introduced in this paper is a novel exploration of applying the mechanism with only revolute joints to the field of tetrahedral rolling robots. It is also an attempt to use the improved rolling locomotion making this kind of mobile robot more practical. Meanwhile, the reasonable engineering structure of the robot provides feasibility for load carrying.

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Type synthesis of multi-mode mobile parallel mechanisms based on refined virtual chain approach

Cited by 13 publications

References 28 publications

Singularity Loci, Bifurcated Evolution Routes, and Configuration Transitions of Reconfigurable Legged Mobile Lander From Adjusting, Landing, to Roving

Singularity Loci, Bifurcated Evolution Routes, and Configuration Transitions of Reconfigurable Legged Mobile Lander From Adjusting, Landing, to Roving

Structural-Parametric Synthesis of the RoboMech Class Parallel Mechanism with Two Sliders

Design and locomotion analysis of the tetrahedral mobile robot with only revolute joints (TMRR)

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