Abstract
This paper presents a unified inverse kinematics and dynamics model of a metamorphic parallel mechanism with pure rotation and pure translation phases. By altering one rotation axis of the reconfigurable Hooke (rT) joints in the limbs, the mechanism can be switched into one of the two phases. To provide joint reaction forces for optimal design and control, Newton method is used in developing the dynamics model which is unified by combining geometric constraints and parameters in both phases. An analytical investigation provides special joint force decomposition and limb coordinate setup to decouple the dynamics equations between the platform and the limbs. This reduces the dynamics computation load from solving a 15 × 15 matrix to a 6 × 6 matrix. A numerical example is given to illustrate the proposed method and simulation results are explained and compared between the two phases. The work on this paper gives good reference for optimal design and control of this metamorphic parallel mechanism in different applications using two phases.
| Original language | British English |
|---|---|
| Pages (from-to) | 1583-1593 |
| Number of pages | 11 |
| Journal | Meccanica |
| Volume | 51 |
| Issue number | 7 |
| DOIs | |
| State | Published - 1 Jul 2016 |
Keywords
- Joint force decomposition
- Parallel mechanism
- Reconfigurable
- Unified dynamics