Configuration switch and path selection between Schönflies motion and non-Schönflies motion based on quotient manifold of novel reconfigurable parallel mechanisms

Wei，Jun1; Qiu，Chen2; Dai，Jian S.3,4

2023-02-01

10.1016/j.mechmachtheory.2022.105153

MECHANISM AND MACHINE THEORY   影响因子和分区

0094-114X

1873-3999

This paper investigates configuration switch and path selection of novel reconfigurable parallel mechanisms with two double-four-bar modular linkages in terms of subgroups SE(2), SO(3) and X(z). The motion representation of reconfigurable parallel mechanisms with three motion branches is proposed based on intersection operation of manifold generated, and the switching principle of motion generators is presented to realize the switching of the three motion branches of the reconfigurable parallel mechanism through the transformation of the submanifold generated by the suitable common motion generators. Two double-four-bar modular linkages are designed to constitute a subchain in terms of the switching principle, and the configuration transformation of the subchain is proposed with respects to the configuration switch of each modular linkage following different forms of the quotient submanifold generated. A reconfigurable parallel mechanism is synthesized by means of rearranging the configurations of two modular linkages of three identical subchains. Especially, the paths of three configurations of a reconfigurable parallel mechanism are selected to satisfy switching.

Configuration switch Double four-bar modular linkage Motion branch Quotient manifold Reconfigurable parallel mechanism

SCI ; EI

英语

通讯

National Natural Science Foundation of China[51535008];Natural Science Foundation of Hebei Province[E2022202130];

Engineering

Engineering, Mechanical

WOS:000885512300004

PERGAMON-ELSEVIER SCIENCE LTD

20224513091730

End effectors ; Mechanisms

Mechanisms:601.3 ; Robotics:731.5

ENGINEERING

2-s2.0-85141505046

Scopus

1.Hebei Key Laboratory of Robot Perception and Human-Machine Fusion,School of Mechanical Engineering,Hebei University of Technology,Tianjin,300130,China
2.Robotics Research Centre,Nanyang Technological University,50 Nanyang Ave,639798,Singapore
3.Institute for Robotics,Southern University of Science and Technology,Shenzhen,518055,China
4.Centre for Robotics Research,King's College London,Strand, London,WC2R 2LS,United Kingdom

Wei，Jun,Qiu，Chen,Dai，Jian S.. Configuration switch and path selection between Schönflies motion and non-Schönflies motion based on quotient manifold of novel reconfigurable parallel mechanisms[J]. MECHANISM AND MACHINE THEORY,2023,180.

Wei，Jun,Qiu，Chen,&Dai，Jian S..(2023).Configuration switch and path selection between Schönflies motion and non-Schönflies motion based on quotient manifold of novel reconfigurable parallel mechanisms.MECHANISM AND MACHINE THEORY,180.

Wei，Jun,et al."Configuration switch and path selection between Schönflies motion and non-Schönflies motion based on quotient manifold of novel reconfigurable parallel mechanisms".MECHANISM AND MACHINE THEORY 180(2023).