Type Synthesis of Metamorphic Parallel Mechanism with Spherical Five Bar Linkage

doi:10.3901/JME.2018.19.018

Abstract

Abstract: A new family of metamorphic parallel mechanism with spherical five bar linkage is presented. Based on the spherical five bar linkage with decoupling performance, reconfigurable hybrid limbs with metamorphic performance are obtained by using screw theory. Reconfigurable hybrid limbs are obtained by integrating the spherical five bar linkage with four degree of freedom serial limbs. A class of metamorphic parallel mechanisms is constructed with three identical hybrid limbs connecting the moving platform and the fixed base. Different from the existing methods by using constraint singular configuration or self-motion of sub-chain of a leg to synthesis reconfigurable parallel mechanisms, an approach to the type synthesis of metamorphic parallel mechanism with lockable joints by using five bar linkage with decoupling performance is presented. It is found that these metamorphic parallel mechanisms do not encounter constraint singular configurations and self-motion of sub-chain of a leg during reconfiguration. It is also found that these metamorphic parallel mechanisms have the ability to change working mode and mobility in a wide range, and all servomotors can be arranged on the base. The approach can also be used for synthesizing other classes of metamorphic parallel mechanism with decoupling closed loop linkage.

Key words: metamorphic mechanism, parallel mechanism, reconfigurable mechanism, screw theory, spherical five bar linkage, type synthesis

CLC Number:

TH112

WANG Bing, FANG Yuefa. Type Synthesis of Metamorphic Parallel Mechanism with Spherical Five Bar Linkage[J]. Journal of Mechanical Engineering, 2018, 54(19): 18-26.

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