Control strategy and trajectory planning for reconfiguration of a vA based metamorphic parallel manipulator

Evangelos Emmanouil, Ketao Zhang, Jian S. Dai*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review

Abstract

Mechanisms with reconfigurability have become a trend in development of multi-functional robots which can adapt to unexpected environments and perform complicated tasks. This paper presents a novel metamorphic parallel manipulator with the ability to change its mobility through the phase change of a variableaxis (vA) joint integrated in each limb. The platform has 6 DOFs in the source phase and can reconfigure its mobility to 5, 4 and 3 resorting to redundant actuation. This leads to reconfigurability and multi-functionality of the parallel manipulator characterized by the mobility configuration variation. A control strategy and a trajectory planning algorithm for reconfiguring the mobility configuration of the manipulator are proposed and simulations are carried out to identify a proper way of reconfiguration. 

Original languageEnglish
Title of host publicationProceedings of the ASME Design Engineering Technical Conference
PublisherAmerican Society of Mechanical Engineers
Number of pages88
Volume6 B
ISBN (Print)9780791855942
DOIs
Publication statusPublished - 7 Aug 2013
EventASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 - Portland, OR, United States
Duration: 4 Aug 20137 Aug 2013

Conference

ConferenceASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013
Country/TerritoryUnited States
CityPortland, OR
Period4/08/20137/08/2013

Fingerprint

Dive into the research topics of 'Control strategy and trajectory planning for reconfiguration of a vA based metamorphic parallel manipulator'. Together they form a unique fingerprint.

Cite this