Reconfiguration-aimed and manifold-operation based type synthesis of metamorphic parallel mechanisms with motion between 1R2T and 2R1T

Wei, Jun; Dai, Jian S.

doi:10.1016/j.mechmachtheory.2019.04.001

Cited by 51 publications

(21 citation statements)

References 28 publications

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“…Even for modular reconfigurable robots, a given structure/anatomy is considered to be different than another one, and the transition from the first to the second requires down times and disassembly and reassembly processes. Metamorphic robots utilize movable connectors to facilitate the alteration of a given structure to different anatomies without the requirement for any change in the structure [ 4 , 5 , 6 , 7 , 8 , 9 , 10 ]. Moreover, due to their movable connectors, metamorphic manipulators are not bounded with respect to the possible anatomies that a structure can be altered to, which are usually imposed upon the structure due to the available types of connectivity of the various modules that comprise it.…”

Section: Introductionmentioning

confidence: 99%

Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator

Stravopodis

Valsamos

Moulianitis

2022

Sensors

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The inherit complexity of the determination of the optimal anatomy and structure to task requirements and specification for metamorphic manipulators poses a significant challenge to the end user, as such methods and tools to undertake such processes are required for the implementation of metamorphic robots to real-life applications in various fields. In this work, the methodology for an offline process for the determination of the optimal anatomy maximizing performance under different requirements is presented. Such requirements considered in this work include the kinematic, kinetostatic and dynamic performance of the manipulator during task execution. The proposed methodology is then applied to a 3 D.o.F. metamorphic manipulator for different tasks. The presented results clearly show that a single metamorphic structure is able to provide the end user with different anatomies, each better suited to task specifications.

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Section: Introductionmentioning

confidence: 99%

Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator

Stravopodis

Valsamos

Moulianitis

2022

Sensors

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“…Among them, redundant actuated parallel mechanisms with symmetry are less. For 2R1T and 2T1R three-DOF parallel mechanisms, most scholars [24][25][26][27][28][29][30] are only aimed at the type synthesis of non-redundant drive parallel mechanisms.…”

Section: Introductionmentioning

confidence: 99%

A New Method for Type Synthesis of 2R1T and 2T1R 3-DOF Redundant Actuated Parallel Mechanisms with Closed Loop Units

Zhang

2020

Chin. J. Mech. Eng.

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The current type synthesis of the redundant actuated parallel mechanisms is adding active-actuated kinematic branches on the basis of the traditional parallel mechanisms, or using screw theory to perform multiple getting intersection and union to complete type synthesis. The number of redundant parallel mechanisms obtained by these two methods is limited. In this paper, based on Grassmann line geometry and Atlas method, a novel and effective method for type synthesis of redundant actuated parallel mechanisms (PMs) with closed-loop units is proposed. Firstly, the degree of freedom (DOF) and constraint line graph of the moving platform are determined successively, and redundant lines are added in constraint line graph to obtain the redundant constraint line graph and their equivalent line graph, and a branch constraint allocation scheme is formulated based on the allocation criteria. Secondly, a scheme is selected and redundant lines are added in the branch chains DOF graph to construct the redundant actuated branch chains with closed-loop units. Finally, the branch chains that meet the requirements of branch chains configuration criteria and F&C (degree of freedom & constraint) line graph are assembled. In this paper, two types of 2 rotational and 1 translational (2R1T) redundant actuated parallel mechanisms and one type of 2 translational and 1 rotational (2T1R) redundant actuated parallel mechanisms with few branches and closed-loop units were taken as examples, and 238, 92 and 15 new configurations were synthesized. All the mechanisms contain closed-loop units, and the mechanisms and the actuators both have good symmetry. Therefore, all the mechanisms have excellent comprehensive performance, in which the two rotational DOFs of the moving platform of 2R1T redundant actuated parallel mechanism can be independently controlled. The instantaneous analysis shows that all mechanisms are not instantaneous, which proves the feasibility and practicability of the method.

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“…Over the past twenty years, several types of mechanisms with various branches of motion have been investigated. With their various features, typical types of mechanisms have been investigated: metamorphic mechanisms [9,[12][13][14][15][16], kinematoropic mechanisms [17][18][19][20][21] and discontinuously movable mechanisms [22,23]. These are called in general reconfigurable mechanisms [24][25][26][27][28][29].…”

Section: Introductionmentioning

confidence: 99%

Tangential intersection of branches of motion

López-Custodio

Müller

Kang

et al. 2020

Mechanism and Machine Theory

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The branches of motion in the configuration space of a reconfigurable linkage can intersect in different ways leading to different types of singularities. In the vast majority of reported linkages whose configuration spaces contain multiple branches of motion the intersection happens transversally, allowing local methods, like the computation of its tangent cone, to identify different branches by means of their tangents. However, if these branches are of the same dimension and they intersect tangentially, it is not possible to identify them by means of the tangent cone at the singularity as the tangent spaces to the branches are the same. Although this possibility has been mentioned by a few researchers, whether linkages with this kind of tangent intersection of branches of motion exist is still an open question. In this paper, it is shown that the answer to this question is yes: A local method is proposed for the effective identification of branches of motion intersecting tangentially, and a method for the type synthesis of linkages that exhibit this particular type of singularity is presented.

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Reconfiguration-aimed and manifold-operation based type synthesis of metamorphic parallel mechanisms with motion between 1R2T and 2R1T

Cited by 51 publications

References 28 publications

Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator

Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator

A New Method for Type Synthesis of 2R1T and 2T1R 3-DOF Redundant Actuated Parallel Mechanisms with Closed Loop Units

Tangential intersection of branches of motion

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