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Variable motion/force transmissibility of a metamorphic parallel mechanism with reconfigurable 3T and 3R motion

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

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

Original languageEnglish
Title of host publication39th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume5C-2015
ISBN (Print)9780791857144
DOIs
Publication statusPublished - 4 May 2016
EventASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States
Duration: 2 Aug 20155 Aug 2015

Conference

ConferenceASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
CountryUnited States
CityBoston
Period2/08/20155/08/2015

King's Authors

Abstract

This paper presents a metamorphic parallel mechanism which can switch its motion between pure translation (3T) and pure rotation (3R) motion. This feature stems from a reconfigurable Hooke (rT) joint of which one of the rotation axes can be altered freely. More than that, based on the reconfiguration of the rT joint, workspace of both 3T and 3R motion can be tunable and the rotation center of the 3R motion can be controlled along a line perpendicular to the base plane. Kinematics analysis is presented based on the geometric constraint of the parallel mechanism covering both 3T and 3R motion. Following these screw theory based motion/force transmission equations are obtained and their characteristics are investigated and linked to the singularity analysis using Jacobian matrix. Motion/force transmission indices can be used to optimize basic design parameters of the metamorphic parallel mechanism. This provides reference of this mechanism for potential applications requiring 3T and 3R motion.

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