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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.

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Figures

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Fig. 1

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

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Fig. 2

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

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Fig. 3

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

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Fig. 4

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

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Fig. 5

Structural sketch of the lS joint driven by SMA

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Fig. 6

Schematic diagram of the 3RRlS1 configuration

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Fig. 7

Schematic diagram of the 2RRlS1-RRlS2 configuration

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Fig. 8

Schematic diagram of the 2RRlS2-RRlS1 configuration

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Fig. 9

Schematic diagram of the 3RRlS2 configuration

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Fig. 10

Fixed and moving coordinate systems of 3RRlS MPM

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Fig. 11

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

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Fig. 12

The ranges of oz and θ

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Fig. 13

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

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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

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