A Kinematotropic Parallel Mechanism Reconfiguring Between Three Motion Branches of Different Mobility
The configuration space of most of the reported kinematotropic mechanisms consists of several subvarieties whose dimension varies between two values. Therefore, most of the reported kinematotropic mechanisms can change their number of degrees of freedom between two values only. In this paper a fully parallel mechanism is presented which has a configuration space with at least three subvarieties of different dimensions. These subvarieties intersect at least at two singular points, which allow the mechanism to reconfigure between three branches without disassembling it and, therefore, the proposed mechanism can change its number of degrees of freedom between three values.
Keywordskinematotropic reconfigurable mechanisms parallel mechanisms local analysis higher order analysis
Unable to display preview. Download preview PDF.
P.C. López-Custodio thanks TheMexican National Council for Science and Technology (CONACyT) and the Advanced Kinematics and Reconfigurable Robotics Lab at King’s College for the support awarded to pursue doctoral studies. A. Müller acknowledges that work has been supported by the “LCM K2 Center for Symbiotic Mechatronics” within the framework of the Austrian COMETK2 program. P.C. López-Custodio and J.S. Dai acknowledge the support of the Engineering and Physical Sciences Research Council (EPSRC) projects with reference numbers EP/P025447/1 and EP/P026087/1.
- 1.Aimedee, F., Gogu, G., Dai, J., Bouzgarrou, C., Bouton, N.: Systematization of morphing in reconfigurable mechanisms. Mechanism and Machine Theory 96, Part 2, 215 – 224 (2016). DOI https://doi.org/10.1016/j.mechmachtheory.2015.07.009CrossRefGoogle Scholar
- 3.Dai, J.S., Gogu, G.: Special issue on reconfigurable mechanisms: Morphing, metamorphosis and reconfiguration through constraint variations and reconfigurable joints. Mechanism and Machine Theory 96, Part 2, 213 – 214 (2016). DOI https://doi.org/10.1016/j.mechmachtheory.2015.11.006CrossRefGoogle Scholar
- 8.Kong, X.: Type synthesis of variable degrees-of-freedom parallel manipulators with both planar and 3T1R operation modes. In: Proceedings of the ASME 2012 International Design Engineering Technical Conferences, pp. 497–504. Chicago, IL, U.S.A. (2012). Paper number DETC2012-70621Google Scholar
- 13.López-Custodio, P., Rico, J., Cervantes-Sánchez, J., Pérez-Soto, G., Díez-Martínez, C.: Verification of the higher order kinematic analyses equations. European Journal of Mechanics - A/Solids 61, 198 – 215 (2017). DOI http://dx.doi.org/10.1016/j.euromechsol.2016.09.010MathSciNetzbMATHCrossRefGoogle Scholar
- 17.Müller, A.: Higher derivatives of the kinematic mapping and some applications. Mechanism and Machine Theory 76, 70 – 85 (2014). DOI http://dx.doi.org/10.1016/j.mechmachtheory.2014.01.007CrossRefGoogle Scholar
- 21.Qin, Y., Dai, J., Gogu, G.: Multi-furcation in a derivative queer-square mechanism. Mechanism and machine theory 81, 36–53 (2014). DOI https://doi.org/10.1016/j.mechmachtheory.2014.06.006CrossRefGoogle Scholar
- 25.Torfason, L.E., Crossley, F.R.E.: Use of the intersection of surfaces as a method for design of spatial mechanisms. In: Proceedings of the 3rd World Congress for the Theory of Machines and Mechanisms, vol. B, pp. 247–258. Kupari, Yugoslavia (1971). Paper B-20Google Scholar
- 28.Ye, W., Fang, Y., Zhang, K., Guo, S.: A new family of reconfigurable parallel mechanisms with diamond kinematotropic chain. Mechanism and Machine Theory 74, 1 – 9 (2014). DOI http://dx.doi.org/10.1016/j.mechmachtheory.2013.11.011CrossRefGoogle Scholar
- 31.Zhang, K., Dai, J.S.: Geometric constraints and motion branch variations for reconfiguration of single-loop linkages with mobility one. Mechanism and Machine Theory 106, 16 – 29 (2016). DOI http://dx.doi.org/10.1016/j.mechmachtheory.2016.08.006CrossRefGoogle Scholar
- 32.Zhang, K., Dai, J.S.: Reconfiguration of the plane-symmetric double-spherical 6R linkage with bifurcation and trifurcation. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 230(3), 473–482 (2016)Google Scholar