Optimal design of a metamorphic parallel mechanism with reconfigurable 1T2R and 3R motion based on unified motion/force transmissibility

Dongming Gan; Jian S. Dai; Jorge Dias; Lakmal D. Seneviratne

doi:10.1115/DETC2016-59042

Optimal design of a metamorphic parallel mechanism with reconfigurable 1T2R and 3R motion based on unified motion/force transmissibility

Dongming Gan, Jian S. Dai, Jorge Dias, Lakmal D. Seneviratne

King's College London

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This paper presents a metamorphic parallel mechanism which can switch its motion between one translation and two rotation (1T2R) motion and pure rotation (3R) motion. This feature stems from a reconfigurable revolute (rR) joint of which the rotation axis can be altered freely. Screw based geometric constraint is used to demonstrate the reconfiguration and mobility. Unified inverse kinematics, Jacobian matrix and motion/force transmissibility are provided using screws. Based on those, singularity loci are illustrated and optimal design of some key parameters are conducted considering both the 1T2R and 3R phases. Trade-off can be made between the maximum singularity-free workspace and transmission performance based on the optimal design results in this paper for specific applications requiring 1T2R and 3R motion.

Original language	British English
Title of host publication	40th Mechanisms and Robotics Conference
ISBN (Electronic)	9780791850169
DOIs	https://doi.org/10.1115/DETC2016-59042
State	Published - 2016
Event	ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 - Charlotte, United States Duration: 21 Aug 2016 → 24 Aug 2016

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	5B-2016

Conference

Conference	ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
Country/Territory	United States
City	Charlotte
Period	21/08/16 → 24/08/16

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10.1115/DETC2016-59042

Cite this

@inproceedings{62142fa60c4b42118766261e7e44ed19,

title = "Optimal design of a metamorphic parallel mechanism with reconfigurable 1T2R and 3R motion based on unified motion/force transmissibility",

abstract = "This paper presents a metamorphic parallel mechanism which can switch its motion between one translation and two rotation (1T2R) motion and pure rotation (3R) motion. This feature stems from a reconfigurable revolute (rR) joint of which the rotation axis can be altered freely. Screw based geometric constraint is used to demonstrate the reconfiguration and mobility. Unified inverse kinematics, Jacobian matrix and motion/force transmissibility are provided using screws. Based on those, singularity loci are illustrated and optimal design of some key parameters are conducted considering both the 1T2R and 3R phases. Trade-off can be made between the maximum singularity-free workspace and transmission performance based on the optimal design results in this paper for specific applications requiring 1T2R and 3R motion.",

author = "Dongming Gan and Dai, {Jian S.} and Jorge Dias and Seneviratne, {Lakmal D.}",

note = "Publisher Copyright: {\textcopyright} Copyright 2016 by ASME.; ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 ; Conference date: 21-08-2016 Through 24-08-2016",

year = "2016",

doi = "10.1115/DETC2016-59042",

language = "British English",

series = "Proceedings of the ASME Design Engineering Technical Conference",

booktitle = "40th Mechanisms and Robotics Conference",

}

Gan, D, Dai, JS, Dias, J & Seneviratne, LD 2016, Optimal design of a metamorphic parallel mechanism with reconfigurable 1T2R and 3R motion based on unified motion/force transmissibility. in 40th Mechanisms and Robotics Conference. Proceedings of the ASME Design Engineering Technical Conference, vol. 5B-2016, ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016, Charlotte, United States, 21/08/16. https://doi.org/10.1115/DETC2016-59042

Optimal design of a metamorphic parallel mechanism with reconfigurable 1T2R and 3R motion based on unified motion/force transmissibility. / Gan, Dongming; Dai, Jian S.; Dias, Jorge et al.
40th Mechanisms and Robotics Conference. 2016. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5B-2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Optimal design of a metamorphic parallel mechanism with reconfigurable 1T2R and 3R motion based on unified motion/force transmissibility

AU - Gan, Dongming

AU - Dai, Jian S.

AU - Dias, Jorge

AU - Seneviratne, Lakmal D.

PY - 2016

Y1 - 2016

N2 - This paper presents a metamorphic parallel mechanism which can switch its motion between one translation and two rotation (1T2R) motion and pure rotation (3R) motion. This feature stems from a reconfigurable revolute (rR) joint of which the rotation axis can be altered freely. Screw based geometric constraint is used to demonstrate the reconfiguration and mobility. Unified inverse kinematics, Jacobian matrix and motion/force transmissibility are provided using screws. Based on those, singularity loci are illustrated and optimal design of some key parameters are conducted considering both the 1T2R and 3R phases. Trade-off can be made between the maximum singularity-free workspace and transmission performance based on the optimal design results in this paper for specific applications requiring 1T2R and 3R motion.

AB - This paper presents a metamorphic parallel mechanism which can switch its motion between one translation and two rotation (1T2R) motion and pure rotation (3R) motion. This feature stems from a reconfigurable revolute (rR) joint of which the rotation axis can be altered freely. Screw based geometric constraint is used to demonstrate the reconfiguration and mobility. Unified inverse kinematics, Jacobian matrix and motion/force transmissibility are provided using screws. Based on those, singularity loci are illustrated and optimal design of some key parameters are conducted considering both the 1T2R and 3R phases. Trade-off can be made between the maximum singularity-free workspace and transmission performance based on the optimal design results in this paper for specific applications requiring 1T2R and 3R motion.

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M3 - Conference contribution

AN - SCOPUS:85007551011

T3 - Proceedings of the ASME Design Engineering Technical Conference

BT - 40th Mechanisms and Robotics Conference

T2 - ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016

Y2 - 21 August 2016 through 24 August 2016

ER -

Optimal design of a metamorphic parallel mechanism with reconfigurable 1T2R and 3R motion based on unified motion/force transmissibility

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