Geometric Constraint and Mobility Analysis of a Reconfigurable Parallel Mechanism

doi:10.3901/JME.2018.07.028

Abstract

Abstract: A novel reconfigurable spatial five-bar mechanism with two different operation modes is proposed. The mechanism has one planar two degree of freedom motion mode, one rotational motion mode, one planar two degree of freedom and rotational motions mode in the initial configuration where the mechanism can transit from one operation mode to another, respectively. Reconfigurable hybrid chain with two distinct phases is obtained by integrating the reconfigurable spatial five-bar mechanism with a serial limb that has one revolute and one spherical joint. A new kind of reconfigurable parallel mechanism is constructed with three identical hybrid chains connecting the moving platform and fixed base. By controlling the reconfigurable five-bar mechanism move into different motion modes, the reconfigurable parallel mechanism has the ability to perform four kinds of motion with different degree of freedom. The special mobility of the mechanisms are analyzed and proved by using screw theory.

Key words: mobility, parallel mechanism, reconfigurable mechanism, screw theory

CLC Number:

TH112

WANG Bing, FANG Yuefa. Geometric Constraint and Mobility Analysis of a Reconfigurable Parallel Mechanism[J]. Journal of Mechanical Engineering, 2018, 54(7): 28-37.

References

[1] FISHER R, PODHORODESKI R P, NOKLEBY S B. Design of a reconfigurable planar parallel manipulator[J]. Journal of Robotic Systems, 2004, 21(12):665-675.
[2] XI F, XU Y, XIONG G. Design and analysis of a re-configurable parallel robot[J]. Mechanism and Machine Theory, 2006, 41(2):191-211.
[3] COPPOLA G, ZHANG D, LIU K. A 6-DOF reconfigurable hybrid parallel manipulator[J]. Robotics and Computer-Integrated Manufacturing, 2014, 30(2):99-106.
[4] ZHANG Ketao, DAI Jiansheng, FANG Yuefa. Geometric constraint and mobility variation of two 3SvPsSv metamorphic parallel mechanism[J]. ASME Journal of Mechanical Design, 2013, 135:011001.
[5] ZHANG Ketao, DAI Jiansheng, FANG Yuefa. Topology and constraint analysis of phase change in the metamorphic chain and its evolved mechanism[J]. ASME Journal of Mechanical Design, 2010, 132:121001.
[6] GAN Dongming, DAI Jiansheng, LIAO Qizheng. Constraint analysis on mobility change of a novel metamorphic parallel mechanism[J]. Mechanism and Machine Theory, 2010, 45:1864-1876.
[7] GAN Dongming, DAI Jiansheng, LIAO Qizheng. Mobility change in two type of metamorphic parallel mechanisms[J]. ASME Journal of Mechanisms and robotics, 2009, 1:041007.
[8] GAN Dongming, DAI Jiansheng, CALDWELL D G. Constraint-based limb synthesis and mobility change aimed mechanism construction[J]. ASME Journal of Mechanical Design, 2011, 133:051001.
[9] GAN Dongming, DAI Jiansheng, DIAS J, et al. Unified kinematics and singularity analysis of a metamorphic parallel mechanism with bifurcated motion[J]. ASME Journal of Mechanisms and Robotics, 2013, 5:031004.
[10] GAN Dongming, DAI Jiansheng, JORGE D, et al. Reconfigurability and unified kinematics modeling of a 3rTPS metamorphic parallel mechanism with perpendicular constraint screws[J]. Robotics and Computer-integrated Manufacturing, 2013, 29:121-128.
[11] GAN Dongming, DAI Jiansheng, DIAS J, et al. Variable motion/force transmissibility of a metamorphic parallel mechanism with reconfigurable 3T and 3R motion[J]. ASME Journal of Mechanisms and Robotics, 2016, 8:051001.
[12] GAN Dongming, DAI Jiansheng, SENEVIRATNE L. Unified kinematics and optimal design of a 3rRPS metamorphic parallel mechanism with a reconfigurable revolute joint[J]. Mechanism and Machine Theory, 2016, 96:239-254.
[13] KONG Xianwen, JIN Yan. Type synthesis of 3-DOF multi-mode translational/spherical parallel mechanisms with lockable joints[J]. Mechanism and Machine Theoty, 2016, 96:323-333.
[14] GROSCH P, GREGORIO R D, LOPEZ J, et al. Motion planning for a novel reconfigurable parallel manipulator with lockable joints[C]//IEEE International Conference on Robotics and Automation, May 3-8, 2010, Anchorage, Alaska, USA. IEEE, 2010:4697-4702.
[15] PALPACELLI M, CARBONARI L, PALMIERI G. A lockable spherical joint for robotic applications[C]//IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Sept. 10-12, 2014. IEEE/ASME, 2014:1-6.
[16] CARBONARI L, CALLEGARI M, PALMIERI G, et al. A new class of reconfigurable parallel kinematic machines[J]. Mechanism and Machine Theory, 2014, 79:173-183.
[17] YE Wei, FANG Yuefa, GUO Sheng. Reconfigurable parallel mechanism with planar five-bar metamorphic linkages[J]. Science China Technological Science, 2014, 57(1):210-218.
[18] WEI Ye, FANG Yuefa, GUO Sheng. Design and analysis of a reconfigurable parallel mechanism for multidirectional additive manufacturing[J]. Mechanism and Machine Theory, 2017, 112:307-326.
[19] YE Wei, FANG Yuefa, ZHANG Ketao, et al. Mobility variation of a family of metamorphic parallel mechanisms with reconfigurable hybrid limbs[J]. Robotics and Computer-Integrated Manufacturing, 2016, 41:145-162.
[20] ZHANG Ketao, DAI Jiansheng. Screw-system-variation enabled reconfiguration of the Bennett plano-spherical hybrid linkage and its evolved parallel mechanism[J]. ASME Journal of Mechanical Design, 2015, 137:062303.
[21] ZLATANOV D, BONEV I A, GOSSELIN C M. Constrain singularities of parallel mechanisms[C]//IEEE International Conference on Robotics and Automation, May 14-15, 2002, Washington D C, New York:IEEE, 2002:496-503.
[22] LI Q, HERVE J M. Parallel mechanism with bifurcation of schoenflies motion[J]. IEEE Transaction on Robotics, 2009, 25(1):158-164.
[23] 李秦川, 陈巧红, 武传宇, 等. 变自由度4-^xP^xR^xR^xR^yR_N并联机构[J]. 机械工程学报, 2009, 45(1):83-87. LI Qinchuan, CHEN Qiaohong, WU Chuanyu, et al. 4-^xP^xR^xR^xR^yR_N parallel mechanism with variable mobility[J]. Journal of Mechanical Engineering, 2009, 45(1):83-87.
[24] KONG X, GOSSELIN C M, RICHARD P. Type synthesis of parallel mechanisms with multiple operation modes[J]. Journal of Mechanical Design, 2007, 129:595-601.
[25] KONG X. Type synthesis of 3-DOF parallel manipulators with both a planar operation mode and a spatial translational operation mode[J]. Journal of Mechanisms and Robotics, 2013, 5:041015.
[26] YE Wei, FANG Yuefa, ZHANG Ketao, et al. A new family of reconfigurable parallel mechanism with diamond kinematotropic chain[J]. Mechanism and Machine Theory, 2014, 74:1-9.
[27] 叶伟,方跃法,郭盛,等. 一种新型并联机构的运动分岔特性及运动学分析[J]. 机械工程学报, 2013, 49(13):8-16. YE Wei, FANG Yuefa, GUO Sheng, et al. Bifurcated motion and kinematics of novel parallel mechanism[J]. Journal of Mechanical Engineering, 2013, 49(13):8-16.
[28] 叶伟,方跃法,郭盛,等. 基于运动限定机构的可重构并联机构设计[J]. 机械工程学报, 2015, 51(13):137-143. YE Wei, FANG Yuefa, GUO Sheng, et al. Design of reconfigurable parallel mechanisms with discontinuously movable mechanism[J]. Journal of Mechanical Engineering, 2015, 51(13):137-143.
[29] 黄真,刘婧芳,李艳文. 论机构的自由度[M]. 北京:科学出版社, 2011. HUNG Zhen, LIU Jingfang, LI Yanwen. Mobility methodology for mechanism[J]. Beijing:China Science Press, 2011.
[30] 赵铁石, 黄真. 欠秩空间并联机器人输入选取的理论与应用[J]. 机械工程学报, 2000, 36(10):81-85. ZHAO Tieshi, HUANG Zhen. Theory and application of selecting actuating components of spatial parallel mechanism[J]. Journal of Mechanical Engineering, 2000, 36(10):81-85.