TY - GEN
T1 - A Novel Class of (3 + 2)-DOF Reconfigurable Generalized Parallel Mechanisms with Kinematic Redundancy
AU - Tian, Chunxu
AU - Li, Luquan
AU - Xia, Zhihao
AU - Zhang, Dan
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.
PY - 2023/11
Y1 - 2023/11
N2 - In this paper, a new method is presented for building Generalized Parallel Mechanisms (GPMs) that can be reconfigured. This method involves combining spatial single-loop linkages (SSLs) with platforms that can be configured. This connection offers a new approach to building novel reconfigurable mechanisms. Firstly, the serial limbs which are used to construct SSLs and serial limbs are synthesized by applying the principle of virtual work. Then this paper analyzes the geometrical configurations of 2-degrees-of-freedom (DOFs) SSLs. Besides, the kinematic study of the derived twofold-symmetric 8-bar SSL is conducted. By assembling the SSL to the configurable platform of GPMs, the paper presented a novel reconfigurable GPM with kinematic redundancy. Finally, the screw theory is used to examine the kinematic constraints of the reconfigurable mechanisms. By varying the configuration of the SSL, the resulting mechanisms can be reconfigured, allowing them to execute various motion models linked to different branches of the platform.
AB - In this paper, a new method is presented for building Generalized Parallel Mechanisms (GPMs) that can be reconfigured. This method involves combining spatial single-loop linkages (SSLs) with platforms that can be configured. This connection offers a new approach to building novel reconfigurable mechanisms. Firstly, the serial limbs which are used to construct SSLs and serial limbs are synthesized by applying the principle of virtual work. Then this paper analyzes the geometrical configurations of 2-degrees-of-freedom (DOFs) SSLs. Besides, the kinematic study of the derived twofold-symmetric 8-bar SSL is conducted. By assembling the SSL to the configurable platform of GPMs, the paper presented a novel reconfigurable GPM with kinematic redundancy. Finally, the screw theory is used to examine the kinematic constraints of the reconfigurable mechanisms. By varying the configuration of the SSL, the resulting mechanisms can be reconfigured, allowing them to execute various motion models linked to different branches of the platform.
KW - Configurable platform
KW - Parallel mechanism
KW - Reconfigurable mechanism
KW - Screw theory
KW - Single-loop linkage
UR - http://www.scopus.com/inward/record.url?scp=85177085548&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-45705-0_38
DO - 10.1007/978-3-031-45705-0_38
M3 - Conference article published in proceeding or book
AN - SCOPUS:85177085548
SN - 9783031457043
T3 - Mechanisms and Machine Science
SP - 386
EP - 395
BT - Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1
A2 - Okada, Masafumi
PB - Springer Science and Business Media B.V.
T2 - 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023
Y2 - 5 November 2023 through 9 November 2023
ER -