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Optimal Design of a Metamorphic Parallel Mechanism With Reconfigurable 1T2R and 3R Motion Based on Unified Motion/Force Transmissibility

[+] Author Affiliations
Dongming Gan, Jorge Dias, Lakmal D. Seneviratne

Khalifa University of Science, Technology & Research, Abu Dhabi, UAE

Jian S. Dai

King’s College London, London, UK

Paper No. DETC2016-59042, pp. V05BT07A045; 10 pages
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5B: 40th Mechanisms and Robotics Conference
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5016-9
  • Copyright © 2016 by ASME


This paper presents a metamorphic parallel mechanism which can switch its motion between one translation and two rotation (1T2R) motion and pure rotation (3R) motion. This feature stems from a reconfigurable revolute (rR) joint of which the rotation axis can be altered freely. Screw based geometric constraint is used to demonstrate the reconfiguration and mobility. Unified inverse kinematics, Jacobian matrix and motion/force transmissibility are provided using screws. Based on those, singularity loci are illustrated and optimal design of some key parameters are conducted considering both the 1T2R and 3R phases. Trade-off can be made between the maximum singularity-free workspace and transmission performance based on the optimal design results in this paper for specific applications requiring 1T2R and 3R motion.

Copyright © 2016 by ASME



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