Lie Group Based Type Synthesis Using Transformation Configuration Space for Reconfigurable Parallel Mechanisms With Bifurcation Between Spherical Motion and Planar Motion

Wei, Jun; Dai, Jian S.

doi:10.1115/1.4045042

Cited by 35 publications

(14 citation statements)

References 48 publications

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“…Hence, in order to avoid this problem, scholars have conducted extensive research on the applications of parallel mechanisms and hybrid mechanisms in the field of robotic arms. Among them, the configuration synthesis [3,4] and performance optimization [5,6] of the mechanisms are one of the most important research contents.…”

Section: Introductionmentioning

confidence: 99%

Workspace optimization of a humanoid robotic arm based on the multi-parameter plane model

Sun

Shuai

et al. 2022

Robotica

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The paper deals with the workspace-based optimization of a novel humanoid robotic arm. The eight-degree-of-freedom hybrid manipulator that conforms to the kinematics characteristics of the human arm is briefly introduced. According to the structural features of this mechanism and the requirements of tasks in the complex environment, the workspace is divided into three parts, the orientation space of the humanoid shoulder joint, the position space of the humanoid elbow joint, and the active orientation space of the end-moving platform. Moreover, a multi-parameter planar model is proposed for the optimization problem with multidimensional parameters and highly nonlinear constraints. Based on the visualized optimization result, the coupling effect of each parameter on the corresponding workspace is clearly presented. Considering the compactness and the processing and assembling technology of this mechanism, a set of structural parameters satisfying the workspace-based optimization objective is obtained. Simulation results show that the corresponding workspace of the three parts has increased significantly by the factor of 1.45, 1.68, and 1.3, respectively.

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Section: Introductionmentioning

confidence: 99%

Workspace optimization of a humanoid robotic arm based on the multi-parameter plane model

Sun

Shuai

et al. 2022

Robotica

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“…As a process of determining possible mechanism structures for a given task without consideration of the specific dimensions and shapes of the components [26], type synthesis is the most effective method to obtain PMs with certain required motion of the moving platform (MP). Type synthesis methods such as screw theory [27], GF set [28], Lie group [29], and Grassmann line geometry [30] are often used in the field of robot configuration analysis. Many significative PMs have been proposed by means of these synthesis methods, which has greatly enriched the diversity of PMs.…”

Section: Introductionmentioning

confidence: 99%

Type Synthesis of 2T1R Planar Parallel Mechanisms and Their Moduling Development Applications

et al. 2021

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The two translational degrees-of-freedom (DOF) and one rotational DOF (2T1R) planar parallel mechanisms (PMs) have the characteristics of simple structures, simple kinematic and dynamic models, and ease of control and allow for a variety of application prospects. This paper concentrates on the derivations of the 5-DOF hybrid manipulators based on the synthesized mechanisms. To understand the effect of the constraint on the motion of a rigid body clearly, the method of reciprocal product between the wrench screw (constraint) and the twist screw (motion) is used and the relationships between the constraint and the motion of a rigid body are analyzed as well. The results are extended to the relationships between the limb constraint and the axes of limb joints. Then, limbs are divided into planar motion and spatial motion limbs in view of their motion characteristics, and some common limbs with constraint are listed. After that, based on the type synthesis method, a class of 2T1R planar PMs with common limbs is carried out. Meanwhile, some typical planar closed chains with two same limbs are obtained in the process of type synthesis. Finally, a 2T1R kinematically redundancy planar PM and two 2R1T spatial PMs are derived by making simple changes to the obtained mechanisms, and detailed derivations of three 5-DOF hybrid manipulators with the ability of processing spatial complex surface are given. Proved by the test parts, the accomplishment of deriving novel robot configurations with regard to expectant motion are quite valuable and practical.

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“…Since Dai and Jones [29] proposed the metamorphic mechanism concept, a new field of variable-mobility and variable-topology mechanisms has come into play. Many mathematical tools are developed first to reveal the variation essence of motion and constraint, such as the instantaneous screw system [30][31][32], finite displacement screw [33][34][35], group theory and differential geometry [36,37], dual quaternions [10,[38][39][40], etc. On the one hand, the investigations of metamorphic mechanism on novel design, unified modeling and analysis, and performance evaluation have sprung up.…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, since the concept of multi-operational (i.e. multi-mode) parallel mechanism was first proposed by Zlatanov [46], many further works on multi-mode topological synthesis [7,36,37,47] and reconfiguration analysis [10,40,48] have achieved fruitful results. However, there are still some challenges for advancing the achievement transformation from theory to technology, such as how to conduct an efficient and practicable means for mode switch and how to take good care of multiple performance demands in each mode with respect to each operating condition.…”

Section: Introductionmentioning

confidence: 99%

Singularity Loci, Bifurcated Evolution Routes, and Configuration Transitions of Reconfigurable Legged Mobile Lander From Adjusting, Landing, to Roving

Han

Zhou

Guo

2021

Journal of Mechanisms and Robotics

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This paper presents the reconfigurable legged mobile lander (ReLML) with its modes from adjusting, landing, to roving. Based on the invented metamorphic variable-axis revolute hinge, the actuated link has three alternative phases of rotating around either of two orthogonal topological axes or locking itself to the base as a rigid body. This property enables the ReLML to switch among three modes and within two driving states (as the adjusting and roving modes are active mechanisms driven by motors, while the landing truss is regarded as a passive mechanism driven by the touchdown impact force exerted on footpad). The unified differential kinematics for the ReLML is established by the screw-based Jacobian modeling, unifying both active and passive operation phases throughout all modes. Afterward, the distributions of workspaces and singularity loci in three modes are discussed for the multi-solution sake, and the selection principle of the practicable solution pattern is proposed to obtain the actual workspace, singularity loci, and configurations. The results stemming from the Jacobian-matrix-based method and the Grassmann-geometry-based method give mutual authentication and match well. Finally, as prospects for promising applications, four bifurcated evolution routes and configuration transitions are figured out and compared.

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Lie Group Based Type Synthesis Using Transformation Configuration Space for Reconfigurable Parallel Mechanisms With Bifurcation Between Spherical Motion and Planar Motion

Cited by 35 publications

References 48 publications

Workspace optimization of a humanoid robotic arm based on the multi-parameter plane model

Workspace optimization of a humanoid robotic arm based on the multi-parameter plane model

Type Synthesis of 2T1R Planar Parallel Mechanisms and Their Moduling Development Applications

Singularity Loci, Bifurcated Evolution Routes, and Configuration Transitions of Reconfigurable Legged Mobile Lander From Adjusting, Landing, to Roving

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