Research Papers

Design and Kinematic Analysis of a 3RRlS Metamorphic Parallel Mechanism for Large-Scale Reconfigurable Space Multifingered Hand

[+] Author and Article Information
Chong Zhao

State Key Laboratory of Robotics and System,
Harbin Institute of Technology,
Harbin 150001, China
e-mail: chon.zhao@qq.com

Hongwei Guo

State Key Laboratory of Robotics and System,
Harbin Institute of Technology,
Harbin 150001, China
e-mail: guohw@hit.edu.cn

Rongqiang Liu

State Key Laboratory of Robotics and System,
Harbin Institute of Technology,
Harbin 150001, China
e-mail: liurq@hit.edu.cn

Zongquan Deng

State Key Laboratory of Robotics and System,
Harbin Institute of Technology,
Harbin 150001, China
e-mail: Dengzq@hit.edu.cn

Bing Li

Shenzhen Graduate School,
Harbin Institute of Technology,
Shenzhen 518055, China
e-mail: libing.sgs@hit.edu.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received October 25, 2017; final manuscript received May 8, 2018; published online June 18, 2018. Assoc. Editor: Hai-Jun Su.

J. Mechanisms Robotics 10(4), 041013 (Jun 18, 2018) (12 pages) Paper No: JMR-17-1362; doi: 10.1115/1.4040356 History: Received October 25, 2017; Revised May 08, 2018

Capturing noncooperative targets in space has great prospects for aerospace application. In this work, the knuckle unit of a large-scale reconfigurable space multifingered hand (LSRSMFH) for multitask requirements is studied. A plurality of knuckle units is connected in series to form a finger of the LSRSMFH. First, the lockable spherical (lS) joint, a new metamorphic joint that can function as a Hooke (lS1) or spherical (lS2) joint and is driven by shape memory alloy (SMA) material, is proposed. Based on the lS joint, this paper presents a new metamorphic parallel mechanism (MPM) (i.e., 3RRlS MPM), which has four configurations, namely, 3RRlS1, 3RRlS2, 2RRlS1-RRlS2, and 2RRlS2-RRlS1 configuration. The degree-of-freedom (DOF), overconstraint, and parasitic motion of the 3RRlS MPM are analyzed using screw theory, of which the DOF can be changed from 1 to 3. The 3RRlS1 configuration has a virtual constraint, and the 3RRlS2 configuration has parasitic motions. The results indicate that the mechanism motion screws can qualitatively represent the mechanism parasitic motions, and it is verified by deriving the kinematic equation of the 3RRlS MPM based on its spatial geometric conditions, the workspace of the 3RRlS MPM is further solved. The kinematic analysis indicates that the 3RRlS MPM can realize the folding, capturing, and reconfiguring conditions of the LSRSMFH.

Copyright © 2018 by ASME
Your Session has timed out. Please sign back in to continue.


Alexander, J. D. , and Young, K. A. , 1970, “ Apollo Lunar Rendezvous,” J. Spacecr. Rockets, 7(9), pp. 1083–1086. [CrossRef]
Polites, M. E. , 1999, “ Technology of Automated Rendezvous and Capture in Space,” J. Spacecr. Rockets, 36(2), pp. 280–291. [CrossRef]
Slysh, P. , and Kugath, D. A. , 1980, “ Large Space Structure Automated Assembly Technique,” J. Spacecr. Rockets, 17(4), pp. 354–362. [CrossRef]
Boumans, R. , and Heemskerk, C. , 1998, “ The European Robotic Arm for the International Space Station,” Rob. Auton. Syst., 23(1–2), pp. 17–27. [CrossRef]
Oda, M. , 1999, “ Space Robot Experiments on NASDA's ETS-VII Satellite-Preliminary Overview of the Experiment Results,” IEEE International Conference on Robotics and Automation (ICRA), Detroit, MI, May 10–15, pp. 1390–1395.
Bosse, A. B. , Barnds, W. J. , Brown, M. A. , Creamer, N. G. , Feerst, A. , Henshaw, C. G. , and Plourde, B. E. , 2004, “ SUMO: Spacecraft for the Universal Modification of Orbits,” Proc. SPIE, 5419, p. 37.
Debus, T. J. , and Dougherty, S. P. , 2009, “ Overview and Performance of the Front-End Robotics Enabling Near-Term Demonstration (FREND) Robotic Arm,” AIAA Paper No. 2009-1870.
Kassebom, M. , 2003, “ Roger—An Advanced Solution for a Geostationary Service Satellite,” 54th International Astronautical Congress of the International Astronautical Federation, the International Academy of Astronautics, and the International Institute of Space Law, Bremen, Germany, Paper No. IAC-03-U.1.02.
Bischof, B. , 2003, “ Roger—Robotic Geostationary Orbit Restorer,” 54th International Astronautical Congress of the International Astronautical Federation, the International Academy of Astronautics, and the International Institute of Space Law, Bremen, Germany, Paper No. IAC-03-IAA.5.2.08.
Nakasuka, S. , Aoki, T. , Ikeda, I. , Tsuda, Y. , and Kawakatsu, Y. , 2001, “ ‘Furoshiki Satellite’-A Large Membrane Structure as a Novel Space System,” Acta Astronaut., 48(5–12), pp. 461–468. [CrossRef]
Hoyt, R. P. , Cushing, J. I. , Slostad, J. T. , Jimmerson, G. , Moser, T. , Kirkos, G. , and Voronka, N. R. , 2013, “ SpiderFab: An Architecture for Self-Fabricating Space Systems,” AIAA Paper No. 2013-5509.
Lee, N. , Backes, P. , Burdick, J. , Pellegrino, S. , Fuller, C. , Hogstrom, K. , and Wu, Y. H. , 2016, “ Architecture for in-Space Robotic Assembly of a Modular Space Telescope,” J. Astron. Telesc., Instrum., Syst., 2(4), p. 041207. [CrossRef]
Gan, D. , Dai, J. S. , Dias, J. , and Seneviratne, L. , 2013, “ Unified Kinematics and Singularity Analysis of a Metamorphic Parallel Mechanism With Bifurcated Motion,” ASME J. Mech. Rob., 5(3), p. 031004. [CrossRef]
Hunt, K. H. , 1983, “ Structural Kinematics of In-Parallel-Actuated Robot-Arms,” ASME J. Mech. Transm. Autom. Des., 105(4), pp. 705–712. [CrossRef]
Li, Q. , and Huang, Z. , 2003, “ Type Synthesis of 4-DOF Parallel Manipulators,” IEEE International Conference Robotics and Automation (ICRA'03), Taipei, Taiwan, Sept. 14–19, pp. 755–760.
Li, Q. , Huang, Z. , and Hervé, J. M. , 2004, “ Type Synthesis of 3R2T 5-DOF Parallel Mechanisms Using the Lie Group of Displacements,” IEEE Trans. Rob. Autom., 20(2), pp. 173–180. [CrossRef]
Gan, D. , Dai, J. S. , and Liao, Q. , 2010, “ Constraint Analysis on Mobility Change of a Novel Metamorphic Parallel Mechanism,” Mech. Mach. Theory, 45(12), pp. 1864–1876. [CrossRef]
Dai, J. S. , and Jones, J. R. , 1999, “ Mobility in Metamorphic Mechanisms of Foldable/Erectable Kinds,” ASME J. Mech. Des., 121(3), pp. 375–382. [CrossRef]
Yan, H. S. , and Kuo, C. H. , 2006, “ Topological Representations and Characteristics of Variable Kinematic Joints,” ASME J. Mech. Des., 128(2), pp. 384–391. [CrossRef]
Kong, X. , Gosselin, C. M. , and Richard, P. L. , 2007, “ Type Synthesis of Parallel Mechanisms With Multiple Operation Modes,” ASME J. Mech. Des., 129(6), pp. 595–601. [CrossRef]
Gan, D. , Dai, J. S. , and Liao, Q. , 2009, “ Mobility Change in Two Types of Metamorphic Parallel Mechanisms,” ASME J. Mech. Rob., 1(4), p. 041007. [CrossRef]
Gan, D. , Dias, J. , and Seneviratne, L. , 2016, “ Unified Kinematics and Optimal Design of a 3rRPS Metamorphic Parallel Mechanism With a Reconfigurable Revolute Joint,” Mech. Mach. Theory, 96, pp. 239–254. [CrossRef]
Zhang, K. , Dai, J. S. , and Fang, Y. , 2010, “ Topology and Constraint Analysis of Phase Change in the Metamorphic Chain and Its Evolved Mechanism,” ASME J. Mech. Des., 132(12), p. 121001. [CrossRef]
Zhang, K. , Dai, J. S. , and Fang, Y. , 2013, “ Geometric Constraint and Mobility Variation of Two 3 SvPSv Metamorphic Parallel Mechanisms,” ASME J. Mech. Des., 135(1), p. 011001. [CrossRef]
Jin, G. , and Chang, B. , 2012, “ Configuration Change and Mobility Analysis of a New Metamorphic Parallel Mechanism Used for Bionic Joint,” Advances in Reconfigurable Mechanisms and Robots I, Springer, London, pp. 333–342. [CrossRef]
Zhang, W. X. , Wu, T. , and Ding, X. L. , 2014, “ An Optimization Method for a Novel Parallel Metamorphic Mechanism,” 11th World Congress Intelligent Control and Automation (WCICA), Shenyang, China, June 29–July 4, pp. 3642–3647.
Palpacelli, M. C. , Carbonari, L. , and Palmieri, G. , 2016, “ Details on the Design of a Lockable Spherical Joint for Robotic Applications,” J. Intell. Rob. Syst., 81(2), p. 169. [CrossRef]
Aghili, F. , and Parsa, K. , 2009, “ A Reconfigurable Robot With Lockable Cylindrical Joints,” IEEE Trans. Rob., 25(4), pp. 785–797. [CrossRef]
Zhang, X. , Yan, X. , and Yang, Q. , 2014, “ Design and Experimental Validation of Compact, Quick-Response Shape Memory Alloy Separation Device,” ASME J. Mech. Des., 136(1), p. 011009. [CrossRef]
Grulich, M. , Koop, A. , Ludewig, P. , Gutsmiedl, J. , Kugele, J. , Ruck, T. , … Dietmann, K. , 2015, “ Smard-Rexus-18: Development and Verification of an SMA Based Cubesat Solar Panel Deployment Mechanism,” 22nd ESA Symposium European Rocket & Balloon Programmes and Related Research, Tromso, Norway, June 7–12, pp. 7–12. https://www.researchgate.net/publication/286383510_SMARD-REXUS-18_DEVELOPMENT_AND_VERIFICATION_OF_AN_SMA_BASED_CUBESAT_SOLAR_PANEL_DEPLOYMENT_MECHANISM
Zhang, X. , Yan, X. , Zhang, S. , and Nie, J. , 2014, “ Development of a Novel Shape Memory Alloy-Actuated Resettable Locking Device for Magnetic Bearing Reaction Wheel,” Rev. Sci. Instrum., 85(1), p. 015006. [CrossRef] [PubMed]
Liang, C. , and Rogers, C. A. , 1992, “ Design of Shape Memory Alloy Actuators,” ASME J. Mech. Des., 114(2), pp. 223–230. [CrossRef]
Song, Y. , Lian, B. , Sun, T. , Dong, G. , Qi, Y. , and Gao, H. , 2014, “ A Novel Five-Degree-of-Freedom Parallel Manipulator and Its Kinematic Optimization,” ASME J. Mech. Rob., 6(4), p. 041008. [CrossRef]
Song, Y. , Gao, H. , Sun, T. , Dong, G. , Lian, B. , and Qi, Y. , 2014, “ Kinematic Analysis and Optimal Design of a Novel 1T3R Parallel Manipulator With an Articulated Travelling Plate,” Rob. Comput.-Integr. Manuf., 30(5), pp. 508–516. [CrossRef]
Carretero, J. A. , Podhorodeski, R. P. , Nahon, M. A. , and Gosselin, C. M. , 2000, “ Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator,” ASME J. Mech. Des., 122(1), pp. 17–24. [CrossRef]
Li, Q. , Chen, Z. , Chen, Q. , Wu, C. , and Hu, X. , 2011, “ Parasitic Motion Comparison of 3-PRS Parallel Mechanism With Different Limb Arrangements,” Rob. Comput.-Integr. Manuf., 27(2), pp. 389–396. [CrossRef]
Qi, Y. , Sun, T. , and Song, Y. , 2017, “ Type Synthesis of Parallel Tracking Mechanism With Varied Axes by Modeling Its Finite Motions Algebraically,” ASME J. Mech. Rob., 9(5), p. 054504. [CrossRef]


Grahic Jump Location
Fig. 1

Conceptual diagram of the LSRSMFH: (a) configuration 1, (b) reconfiguring, and (c) configuration 2

Grahic Jump Location
Fig. 2

Metamorphic joint—lS joint: (a) spherical (lS2) joint, (b) hooke (lS1) joint, and (c) graphical symbol

Grahic Jump Location
Fig. 3

3RRlS MPM: (a) schematic diagram of 3RRlS MPM and (b) structural sketch of 3RRlS MPM

Grahic Jump Location
Fig. 4

Four configurations of 3RRlS MPM: (a) 3RRlS1, (b) 2RRlS1-RRlS2, (c) 2RRlS2-RRlS1, and (d) 3RRlS2

Grahic Jump Location
Fig. 5

Structural sketch of the lS joint driven by SMA

Grahic Jump Location
Fig. 6

Schematic diagram of the 3RRlS1 configuration

Grahic Jump Location
Fig. 7

Schematic diagram of the 2RRlS1-RRlS2 configuration

Grahic Jump Location
Fig. 8

Schematic diagram of the 2RRlS2-RRlS1 configuration

Grahic Jump Location
Fig. 9

Schematic diagram of the 3RRlS2 configuration

Grahic Jump Location
Fig. 10

Fixed and moving coordinate systems of 3RRlS MPM

Grahic Jump Location
Fig. 11

The origin coordinate of the moving coordinate system: (a) the value of Ox and (b) the value of Oy

Grahic Jump Location
Fig. 12

The ranges of oz and θ

Grahic Jump Location
Fig. 13

The workspace of the 3RRlS2 configuration: (a) the range of θmax and (b) the range of θp and θn

Grahic Jump Location
Fig. 14

Conceptual drawing of the LSRSMFH based on 3RRlS MPM: (a) folding configuration, (b) six-finger deploying configuration, (c) six-finger capturing configuration, (d) reconfiguring, and (e) three-finger capturing configuration




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In