A Kinematotropic Parallel Mechanism Reconfiguring Between Three Motion Branches of Different Mobility

The configuration space of most of the reported kinematotropic mechanisms consists of several subvarieties whose dimension varies between two values. Therefore, most of the reported kinematotropic mechanisms can change their number of degrees of freedom between two values only. In this paper a fully parallel mechanism is presented which has a configuration space with at least three subvarieties of different dimensions. These subvarieties intersect at least at two singular points, which allow the mechanism to reconfigure between three branches without disassembling it and, therefore, the proposed mechanism can change its number of degrees of freedom between three values.

[1]  A. Mueller.  Higher-Order Analysis of Kinematic Singularities of Lower Pair Linkages and Serial Manipulators , 2018 .

[2]  P. C. López-Custodio,et al.  Verification of the higher order kinematic analyses equations , 2017 .

[3]  A. Müller.  Higher derivatives of the kinematic mapping and some applications , 2014 .

[4]  Gerardo I. Pérez-Soto,et al.  Reconfigurable Mechanisms From the Intersection of Surfaces , 2016 .

[5]  Andreas Müller,et al.  Local Kinematic Analysis of Closed-Loop Linkages—Mobility, Singularities, and Shakiness , 2016 .

[6]  Jian S. Dai,et al.  Geometric Constraint and Mobility Variation of Two 3SvPSv Metamorphic Parallel Mechanisms , 2013 .

[7]  Andreas Müller,et al.  Recursive higher-order constraints for linkages with lower kinematic pairs , 2016 .

[8]  J. Dai,et al.  Mobility in Metamorphic Mechanisms of Foldable/Erectable Kinds , 1998 .

[9]  Xianwen Kong,et al.  A Novel Method for Constructing Multi-Mode Deployable Polyhedron Mechanisms Using Symmetric Spatial RRR Compositional Units , 2018, Volume 5A: 42nd Mechanisms and Robotics Conference.

[10]  Joseph James Duffy,et al.  Screw theory and higher order kinematic analysis of open serial and closed chains , 1999 .

[11]  Jian S. Dai,et al.  Reconfiguration of the plane-symmetric double-spherical 6R linkage with bifurcation and trifurcation , 2016 .

[12]  P. C. López-Custodio,et al.  Local Analysis of Helicoid–Helicoid Intersections in Reconfigurable Linkages , 2017 .

[13]  C. Gosselin,et al.  Constraint Singularities as C-Space Singularities , 2002 .

[14]  C. Galletti,et al.  Single-loop kinematotropic mechanisms , 2001 .

[15]  José María Rico Martínez,et al.  On Mobility Analysis of Linkages Using Group Theory , 2003 .

[16]  F. R. E. Crossley,et al.  Gross Motion Attributes of Certain Spatial Mechanisms , 1969 .

[17]  Jian S. Dai,et al.  Systematization of morphing in reconfigurable mechanisms , 2016 .

[18]  Jian S. Dai,et al.  Branch Reconfiguration of Bricard Linkages Based on Toroids Intersections: Line-Symmetric Case , 2018 .

[19]  B. Ravani,et al.  On Mobillity Analysis of Linkages Using Group Theory , 2002 .

[20]  Jian S. Dai,et al.  First- and Second-Order Kinematics-Based Constraint System Analysis and Reconfiguration Identification for the Queer-Square Mechanism , 2019 .

[21]  Jian S. Dai,et al.  Novel spherical-planar and Bennett-spherical 6R metamorphic linkages with reconfigurable motion branches , 2018, Mechanism and Machine Theory.

[22]  Jian S. Dai,et al.  Screw-System-Variation Enabled Reconfiguration of the Bennett Plano-Spherical Hybrid Linkage and Its Evolved Parallel Mechanism , 2015 .

[23]  Jian S. Dai,et al.  Branch Reconfiguration of Bricard Linkages Based on Toroids Intersections: Line-Symmetric Case , 2018 .

[24]  Xianwen Kong,et al.  Type Synthesis of Variable Degrees-of-Freedom Parallel Manipulators With Both Planar and 3T1R Operation Modes , 2012 .

[25]  Wei Ye,et al.  A new family of reconfigurable parallel mechanisms with diamond kinematotropic chain , 2014 .

[26]  Jian S. Dai,et al.  A Novel Reconfigurable 7R Linkage with Multifurcation , 2016 .

[27]  Xianwen Kong,et al.  Type synthesis and reconfiguration analysis of a class of variable-DOF single-loop mechanisms , 2015 .

[28]  Jian S. Dai,et al.  Reconfiguration of Spatial Metamorphic Mechanisms , 2009 .

[29]  Jean Lerbet,et al.  Analytic Geometry and Singularities of Mechanisms , 1998 .

[30]  L. E. Torfason,et al.  Analysis of Spatial RRGRR Mechanisms by the Method of Generated Surfaces , 1973 .

[31]  Jian S. Dai,et al.  Geometric constraints and motion branch variations for reconfiguration of single-loop linkages with mobility one , 2016 .

[32]  C. Gosselin,et al.  Type Synthesis of Parallel Mechanisms With Multiple Operation Modes , 2007 .

[33]  Jian S. Dai,et al.  Mobility Change in Two Types of Metamorphic Parallel Mechanisms , 2009 .

[34]  Jian S. Dai,et al.  EditorialSpecial Issue on Reconfigurable Mechanisms:: Morphing, Metamorphosis and Reconfiguration Through Constraint Variations and Reconfigurable Joints , 2016 .

[35]  Jian S. Dai,et al.  Multi-furcation in a derivative queer-square mechanism , 2014 .