Reconfiguration and actuation scheme of 3rTPS metamorphic parallel mechanisms with parallel constraint screws

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

This paper presents reconfiguration with mobility change of a class of metamorphic parallel mechanisms consisting of three reconfigurable rTPS limbs with parallel bracket rotation axes. Stemming from the reconfiguration of the reconfigurable Hooke (rT) joint, the rTPS limb has two phases with one having full mobility and the other giving a constraint force to the platform based on the constraint screws. The platform constraint screw systems show that the new metamorphic parallel mechanisms have four topologies by altering the limb phases with mobility change among 1R2T (one rotation with two translations), 2R2T, 3R2T and mobility 6. Special topologies are identified considering the limb arrangement. Following these, actuation scheme is discussed by covering all the topologies of the metamorphic parallel mechanisms based on constraint screws.

Original languageBritish English
Title of host publicationAdvances in Reconfigurable Mechanisms and Robots I
Pages259-268
Number of pages10
DOIs
StatePublished - 2012
Event2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012 - Tianjin, China
Duration: 9 Jul 201211 Jul 2012

Publication series

NameAdvances in Reconfigurable Mechanisms and Robots I

Conference

Conference2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012
Country/TerritoryChina
CityTianjin
Period9/07/1211/07/12

Keywords

  • Constraint screw
  • Mobility change
  • Parallel mechanism
  • Reconfiguration
  • Singularity

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