Kinematic and Performance Analysis of a Novel Reconfigurable Parallel Mechanism

Guanyu Huang, Dan Zhang, Lingyu Kong, Qi Zou

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

1 Citation (Scopus)

Abstract

This paper presents a novel 4-DOF (Degree of freedom) reconfigurable parallel mechanism which owns the continuously reconfigurable ability. The reconfigurable parallel mechanism can change its configurations by driving a gear train system. Then, the structural parameters will be changed to form different configurations which have different performances. Some performance indices are analyzed, like dexterity, stiffness and workspace. Finally, a numerical example has been proposed to verify the kinematic analysis.

Original languageEnglish
Title of host publication2021 7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages180-184
Number of pages5
ISBN (Electronic)9780738132051
DOIs
Publication statusPublished - 3 Feb 2021
Externally publishedYes
Event7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021 - Virtual, Budapest, Hungary
Duration: 3 Feb 20215 Feb 2021

Publication series

Name2021 7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021

Conference

Conference7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021
Country/TerritoryHungary
CityVirtual, Budapest
Period3/02/215/02/21

Keywords

  • kinematic simulation
  • kinematics analysis
  • performance analysis
  • Reconfigurable parallel mechanism

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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