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Optimal design of a metamorphic parallel mechanism with reconfigurable 1T2R and 3R motion based on unified motion/force transmissibility

Research output: Chapter in Book/Report/Conference proceedingConference paper

Dongming Gan, Jian S. Dai, Jorge Dias, Lakmal D. Seneviratne

Original languageEnglish
Title of host publication40th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Number of pages10
Volume5B-2016
ISBN (Print)9780791850169
DOIs
Publication statusPublished - Aug 2016
EventASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 - Charlotte, United States
Duration: 21 Aug 201624 Aug 2016

Conference

ConferenceASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
CountryUnited States
CityCharlotte
Period21/08/201624/08/2016

King's Authors

Abstract

This paper presents a metamorphic parallel mechanism which can switch its motion between one translation and two rotation (1T2R) motion and pure rotation (3R) motion. This feature stems from a reconfigurable revolute (rR) joint of which the rotation axis can be altered freely. Screw based geometric constraint is used to demonstrate the reconfiguration and mobility. Unified inverse kinematics, Jacobian matrix and motion/force transmissibility are provided using screws. Based on those, singularity loci are illustrated and optimal design of some key parameters are conducted considering both the 1T2R and 3R phases. Trade-off can be made between the maximum singularity-free workspace and transmission performance based on the optimal design results in this paper for specific applications requiring 1T2R and 3R motion.

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