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Topology and Mobility Variations of a Novel Redundant Reconfigurable Parallel Mechanism

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Advances in Reconfigurable Mechanisms and Robots II

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 36))

Abstract

In this paper, a novel redundant reconfigurable parallel manipulator is proposed, which can be changed into three reconfigured structures. First, the mechanism structure and reconfigurable kinematic limb are described, and the constraint system applied on the moving platform is obtained. Then, the mobility of the mechanism and the connectivity between moving platform and fixed base are calculated, including the reconfigured structure. Also, a new connectivity criterion is proposed for such parallel mechanism in reconfigured structure. Finally, the possible three reconfigured structures are analyzed. Different reconfigured structure results in different topology, mobility and connectivity.

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Acknowledgments

This work is supported by National Natural Science Foundation of China [grant numbers 51175029, 51475035], Beijing Natural Science Foundation of China [grant number 3132019], and China Postdoctoral Science Foundation [grant number 2014M550601].

Author information

Authors and Affiliations

  1. Robotics Institute, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, 100044, China

    Haibo Qu & Sheng Guo

Authors
  1. Haibo Qu
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  2. Sheng Guo
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Corresponding author

Correspondence to Haibo Qu .

Editor information

Editors and Affiliations

  1. Beihang University, Beijing, China

    Xilun Ding

  2. Heriot-Watt University, Edinburgh, United Kingdom

    Xianwen Kong

  3. Kings College London, Strand, LONDON WC2R 2LS, United Kingdom

    Jian S. Dai

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Qu, H., Guo, S. (2016). Topology and Mobility Variations of a Novel Redundant Reconfigurable Parallel Mechanism. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_20

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  • DOI: https://doi.org/10.1007/978-3-319-23327-7_20

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-23326-0

  • Online ISBN: 978-3-319-23327-7

  • eBook Packages: EngineeringEngineering (R0)

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