A Kinematotropic Parallel Mechanism Reconfiguring Between Three Motion Branches of Different Mobility

P. C. López-Custodio*, A. Müller, J. S. Dai

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

2 Citations (Scopus)

Abstract

The configuration space of most of the reported kinematotropic mechanisms consists of several subvarieties whose dimension varies between two values. Therefore, most of the reported kinematotropic mechanisms can change their number of degrees of freedom between two values only. In this paper a fully parallel mechanism is presented which has a configuration space with at least three subvarieties of different dimensions. These subvarieties intersect at least at two singular points, which allow the mechanism to reconfigure between three branches without disassembling it and, therefore, the proposed mechanism can change its number of degrees of freedom between three values.

Original languageEnglish
Title of host publicationMechanisms and Machine Science
PublisherSpringer Netherlands
Pages2611-2620
Number of pages10
DOIs
Publication statusPublished - 1 Jan 2019

Publication series

NameMechanisms and Machine Science
Volume73
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Keywords

  • higher order analysis
  • kinematotropic
  • local analysis
  • parallel mechanisms
  • reconfigurable mechanisms

Fingerprint

Dive into the research topics of 'A Kinematotropic Parallel Mechanism Reconfiguring Between Three Motion Branches of Different Mobility'. Together they form a unique fingerprint.

Cite this