Multiloop Kinematotropic Mechanisms

Galletti, C.; Giannotti, Elena

doi:10.1115/detc2002/mech-34251

Cited by 19 publications

(9 citation statements)

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“…The earliest work on the bifurcated motion arose from kinematotropic mechanisms that were presented by Wohlhart [3] that the permanent mobility could be changed after it passed through the singular position. Following this, Galletti and Fanghella [4,5] used a displacement group method [6] to synthesize the single-loop and multi-loop kinematotropic mechanisms by using a special arrangement of joints. This was then used to construct parallel mechanisms with bifurcated motion [7].…”

Section: Introductionmentioning

confidence: 99%

Geometry Constraint and Branch Motion Evolution of 3-PUP Parallel Mechanisms with Bifurcated Motion

Gan

Dai

2013

Mechanism and Machine Theory

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Section: Introductionmentioning

confidence: 99%

Geometry Constraint and Branch Motion Evolution of 3-PUP Parallel Mechanisms with Bifurcated Motion

Gan

Dai

2013

Mechanism and Machine Theory

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“…Metamorphic mechanisms can realize mutual configurations and have therefore led to many notable achievements in design. From 2000 to 2003, some new metamorphic mechanisms such as the Ortho-planar mechanisms [2], the multiloop kinematotropic mechanisms [3], the metamorphic compliant ortho-planar mechanisms [4], and the metamorphic underwater vehicle [5] emerged successively. And they provided the initial references for the design of metamorphic mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Design and Dimensional Optimization of a Controllable Metamorphic Palletizing Robot

2020

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The controllable metamorphic mechanisms offer the advantages of adjustable mechanisms and multiple configurations. Most of these mechanisms are not yet applied in industry. To achieve the dimension calculation method for engineering applications as well as the effective and functional industrial prototype of these mechanisms, firstly, this paper designed a controllable metamorphic palletizing robot which can have 2-degrees-of-freedom (2-DOF) and single-DOF configurations. Further, this robot mechanism was studied using workspace analysis. The evaluation of its kinematic performance in workspace was presented. On this basis, a dimensional optimization method for metamorphic mechanisms based on workspace discretization was developed. The optimal workspace and corresponding dimensional parameters of this robot mechanism were obtained by this method and verified by the conventional calculation approach. A physical prototype of the robot was manufactured using optimized dimensional parameters and the feasibility as well as the practicality of its scheme was demonstrated.

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“…15,16 Reconfigurable limbs that are capable of providing different constraints are usable in the construction of reconfigurable parallel mechanisms. 17 Kong and Yu 18,19 addressed the type synthesis of 2-DOFs parallel robots with sphere-on-sphere rolling mode and the spherical translation mode. Gogu 20 presented the transitory phase of bifurcated platform motion and the mobility change in structure synthesis of parallel manipulators.…”

Section: Introductionmentioning

confidence: 99%

Structure synthesis of reconfigurable parallel mechanisms with closed-loop metamorphic linkages

Tian

Fang

Guo

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper proposes a class of closed-loop metamorphic linkages, which has different phases resulting from links annexing or locking of motors. Reconfigurable limbs are obtained by assembling these metamorphic linkages with kinematic chains. The potential metamorphic linkages are presented and the working phase transformation of the metamorphic linkages is analyzed. After adding suitable kinematic joints to the metamorphic linkage, the reconfigurable limbs whose constraint can be switched among different constraint forces and couples are synthesized. The serial limbs that can provide u ( u = 0, 1, 2) constraint forces and v ( v = 0, 1, 2) constraint couples are constructed by using screw theory method. The reconfigurable limbs which possess different configurations are combined with serial kinematic chains. By connecting the end moving platform to the fixed base with three identical kinematic limbs, a family of reconfigurable mechanisms with closed-loop metamorphic linkages is derived. These mechanisms have various output motion modes, such as 3R, 1T2R, 2T1R, and 3T.

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Multiloop Kinematotropic Mechanisms

Cited by 19 publications

References 0 publications

Geometry Constraint and Branch Motion Evolution of 3-PUP Parallel Mechanisms with Bifurcated Motion

Geometry Constraint and Branch Motion Evolution of 3-PUP Parallel Mechanisms with Bifurcated Motion

Design and Dimensional Optimization of a Controllable Metamorphic Palletizing Robot

Structure synthesis of reconfigurable parallel mechanisms with closed-loop metamorphic linkages

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