The novel synthesis of generalized parallel manipulators with 8R Kirigami-inspired configurable platform

This paper proposes a novel method to design metamorphic Spatial Single-loop Linkages (SSL) through Kirigami technology. The integration of the proposed Kirigami-inspired mechanism puts forward the development of reconfigurable Generalized Parallel Manipulators (GPMs). First, the cut points are introduced into the crease patterns to generate Kirigami-inspired crease patterns. Such Kirigami-inspired crease patterns obtain a novel 8R metamorphic SSL. Then, to investigate the motion characteristics of the derived mechanism, the constraint screw method is utilized to analyze the parameter configurations associated with singular positions and different motion trajectories. Moreover, this paper presents an innovative approach to constructing reconfigurable GPMs with the proposed SSL. According to the working scenarios, the desired relative motion sets can be mapped to actual motion sets. Utilizing the Lie group theory, the arrangement of mechanical generators of the limbs can be obtained. Finally, this research highlights the potential application of the proposed GPM with the configurable platform: landing manipulation adapting to various terrains with grasping capability.