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Research Papers

Variable Motion/Force Transmissibility of a Metamorphic Parallel Mechanism With Reconfigurable 3T and 3R Motion

[+] Author and Article Information
Dongming Gan

Robotics Institute,
Khalifa University of Science,
Technology and Research,
Abu Dhabi 127788, UAE
e-mail: dongming.gan@kustar.ac.ae

Jian S. Dai

School of Natural and Mathematical Sciences,
King's College London,
University of London,
Strand,
London WC2R2LS, UK
e-mail: jian.dai@kcl.ac.uk

Jorge Dias

Robotics Institute,
Khalifa University of Science,
Technology and Research,
Abu Dhabi 127788, UAE;
Institute of Systems and Robotics,
University of Coimbra,
Coimbra 3030-790, Portugal
e-mail: Jorge.dias@kustar.ac.ae

Lakmal D. Seneviratne

Robotics Institute,
Khalifa University of Science,
Technology & Research,
Abu Dhabi 127788, UAE;
School of Natural and Mathematical Sciences,
King's College London,
University of London,
Strand, London WC2R2LS, UK
e-mail: lakmal.seneviratne@kustar.ac.ae

1Corresponding author.

Manuscript received September 10, 2015; final manuscript received December 8, 2015; published online May 4, 2016. Assoc. Editor: Venkat Krovi.

J. Mechanisms Robotics 8(5), 051001 (May 04, 2016) (9 pages) Paper No: JMR-15-1246; doi: 10.1115/1.4032409 History: Received September 10, 2015

This paper presents a metamorphic parallel mechanism (MPM) which can switch its motion between pure translation (3T) and pure rotation (3R). 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 constraints of the parallel mechanism covering both 3T and 3R motion. Following this, 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 MPM. This provides reference of this mechanism for potential applications requiring 3T and 3R motion.

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Figures

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Fig. 1

The reconfigurable Hooke (rT) joint

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Fig. 2

Two phases of the (rT)P(rT) limb: (a) intersecting and (b) parallel

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Fig. 3

The 3-(rT)P(rT) parallel mechanism with pure rotation motion: (a) the 3-(rT)P(rT) parallel mechanism and (b) the platform coordinate frame

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Fig. 4

The controllable rotation center

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Fig. 5

The 3-(rT)P(rT) parallel mechanism with pure translation motion

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Fig. 6

Four different configurations

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Fig. 7

Variable transmission indices and singularity loci of the pure translation motion: (a) αa1 = 2π/3 (left: singularity loci and right: CTI at z = 1.5), (b) αa2 = π/2 (left: singularity loci and right: CTI at z = 1.5), (c) αa3 = sin −1(2/3) (left: singularity loci and right: CTI at z = 1.5), (d) αa4 = π/6 (left: singularity loci and right: CTI at z = 1.5), and (e) OTI at z = 1.5

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Fig. 8

Variable transmission indices and singularity loci of the pure rotation motion: (a) αa1 = 2π/3 (left: singularity loci and right: CTI/OTI at c3 = 0.5), (b) αa2 = π/2 (left: singularity loci and right: CTI/OTI at c3 = 0.5), (c) αa3 = sin−1(2/3) (left: singularity loci and right: CTI/OTI at c3 = 0.5), and (d) αa4 = π/6 (left: singularity loci and right: CTI/OTI at c3 = 0.5)

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