TY - GEN
T1 - Reconfigurable Generalized Parallel Mechanisms with Kinematotropic Linkages
AU - Tian, Chunxu
AU - Zhang, Dan
AU - Tang, Hongyan
AU - Liu, Jian
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/2/3
Y1 - 2021/2/3
N2 - This paper presents a novel idea of designing reconfigurable generalized parallel mechanisms (GPMs) by integrating kinematotropic linkages with coupling sub-chains (CSs) or configurable platforms (CPs). This leads to two brand-new ways of constructing reconfigurable mechanisms. By assembling the kinematotropic linkages into CSs, the planar/spherical reconfigurable GPMs with CSs can be derived. By substituting the rigid end-effector with kinematotropic linkages, a new family of reconfigurable GPMs with CPs can be obtained. The variation of the CSs or CPs ends up in the reconfiguration of the resulting mechanisms. The kinematic constraints of the platforms are analyzed based on the Lie group theory. Consequently, these derived reconfigurable mechanisms can output more than one motion patterns related to various operating phases of the kinematotropic linkages. Finally, a dual-functioning system for landing gear and aerial manipulation is developed.
AB - This paper presents a novel idea of designing reconfigurable generalized parallel mechanisms (GPMs) by integrating kinematotropic linkages with coupling sub-chains (CSs) or configurable platforms (CPs). This leads to two brand-new ways of constructing reconfigurable mechanisms. By assembling the kinematotropic linkages into CSs, the planar/spherical reconfigurable GPMs with CSs can be derived. By substituting the rigid end-effector with kinematotropic linkages, a new family of reconfigurable GPMs with CPs can be obtained. The variation of the CSs or CPs ends up in the reconfiguration of the resulting mechanisms. The kinematic constraints of the platforms are analyzed based on the Lie group theory. Consequently, these derived reconfigurable mechanisms can output more than one motion patterns related to various operating phases of the kinematotropic linkages. Finally, a dual-functioning system for landing gear and aerial manipulation is developed.
KW - configurable platform
KW - coupling sub-chain
KW - kinematotropic linkage
KW - parallel mechanism
KW - reconfiguration
UR - http://www.scopus.com/inward/record.url?scp=85104822697&partnerID=8YFLogxK
U2 - 10.1109/ICMRE51691.2021.9384812
DO - 10.1109/ICMRE51691.2021.9384812
M3 - Conference article published in proceeding or book
AN - SCOPUS:85104822697
T3 - 2021 7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021
SP - 185
EP - 189
BT - 2021 7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Mechatronics and Robotics Engineering, ICMRE 2021
Y2 - 3 February 2021 through 5 February 2021
ER -