TY - GEN
T1 - Kinematics and Performance Analysis of a Hybrid Mechanism with Reconfigurability
AU - He, Litao
AU - Fang, Hairong
AU - Zhang, Dan
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.
PY - 2024/6/20
Y1 - 2024/6/20
N2 - This paper presents a novel six degree of freedom 6-PRRRR-P1-SP2S hybrid mechanism with reconfigurability. Firstly, the structure of the hybrid mechanism and its configuration relationship are specifically described. Then, by analyzing different reconfiguration modes of the hybrid mechanism, the degree of freedom (DOF) under the corresponding reconfiguration modes is calculated. Next, the inverse kinematics analysis is carried out for different reconfiguration modes of the hybrid mechanism, and the Jacobi matrices of the input–output relations of the corresponding mechanisms are derived. Finally, the workspace, dexterity, and static stiffness performance of the mechanisms with different reconfiguration modes are analyzed based on the Jacobi matrix. The analysis results show that the proposed 6-PRRRR-P1-SP2S hybrid mechanism is characterized by a large workspace, high dexterity, and high stiffness in different reconfiguration modes to achieve large extension. The proposed hybrid mechanism can be applied to some situations that require large workspace and multiple work modes in the future.
AB - This paper presents a novel six degree of freedom 6-PRRRR-P1-SP2S hybrid mechanism with reconfigurability. Firstly, the structure of the hybrid mechanism and its configuration relationship are specifically described. Then, by analyzing different reconfiguration modes of the hybrid mechanism, the degree of freedom (DOF) under the corresponding reconfiguration modes is calculated. Next, the inverse kinematics analysis is carried out for different reconfiguration modes of the hybrid mechanism, and the Jacobi matrices of the input–output relations of the corresponding mechanisms are derived. Finally, the workspace, dexterity, and static stiffness performance of the mechanisms with different reconfiguration modes are analyzed based on the Jacobi matrix. The analysis results show that the proposed 6-PRRRR-P1-SP2S hybrid mechanism is characterized by a large workspace, high dexterity, and high stiffness in different reconfiguration modes to achieve large extension. The proposed hybrid mechanism can be applied to some situations that require large workspace and multiple work modes in the future.
KW - Dexterity
KW - Hybrid mechanism
KW - Kinematics
KW - Reconfigurable
KW - Workspace
UR - https://www.scopus.com/pages/publications/85199312240
U2 - 10.1007/978-981-97-0922-9_149
DO - 10.1007/978-981-97-0922-9_149
M3 - Conference article published in proceeding or book
AN - SCOPUS:85199312240
SN - 9789819709212
T3 - Mechanisms and Machine Science
SP - 2339
EP - 2355
BT - Advances in Mechanical Design - The Proceedings of the 2023 International Conference on Mechanical Design, ICMD 2023
A2 - Tan, Jianrong
A2 - Liu, Yu
A2 - Huang, Hong-Zhong
A2 - Yu, Jingjun
A2 - Wang, Zequn
PB - Springer Science and Business Media B.V.
T2 - International Conference on Mechanical Design, ICMD 2023
Y2 - 20 October 2023 through 22 October 2023
ER -