Parallel manipulators (PMs) with multiple operation modes are novel reconfigurable PMs, which use less number of actuators and can be reconfigured without disassembly. This paper deals with the type synthesis of 2-DOF (degrees-of-freedom) PMs with both spherical translation mode and sphere-on-sphere rolling mode. A spherical translation is the 2-DOF spatial translation under which the trajectory of any point on the moving link is a sphere. A sphere-on-sphere rolling refers to the rolling of a sphere without slipping and spinning on another sphere of the same diameter. At first, a 2-DOF 3-4R overconstrained PM is proposed based on an existing 5-DOF US equivalent PM. From this 2-DOF PM, we further obtain a 3-4R PM for sphere-on-sphere rolling and a 3-4R PM for spherical translation. By finding the common conditions for the 2-DOF 3-4R PM for spherical translation and 2-DOF 3-4R PM for sphere-on-sphere rolling, the types of 2-DOF 3-4R PMs with both spherical translation mode and sphere-on-sphere rolling mode are then obtained. The 2-DOF 3-4R PMs with both spherical translation mode and sphere-on-sphere rolling mode fall into two classes. In one class of PMs with both spherical translation mode and sphere-on-sphere rolling mode, the moving platform has four instantaneous DOF in a transition configuration. In another class of PMs with both spherical translation mode and sphere-on-sphere rolling mode, the moving platform has at most three instantaneous DOF in a transition configuration. This work enriches the types of PMs with multiple operation modes and overconstrained mechanisms.
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November 2015
Research-Article
Type Synthesis of Two-Degrees-of-Freedom 3-4R Parallel Mechanisms With Both Spherical Translation Mode and Sphere-on-Sphere Rolling Mode
Xianwen Kong,
Xianwen Kong
1
School of Engineering and Physical Sciences,
e-mail: X.Kong@hw.ac.uk
Heriot-Watt University
,Edinburgh EH14 4AS
, UK
e-mail: X.Kong@hw.ac.uk
1Corresponding author.
Search for other works by this author on:
Jingjun Yu
Jingjun Yu
Robotics Institute,
School of Mechanical Engineering
and Automation,
e-mail: jjyu@buaa.edu.cn
School of Mechanical Engineering
and Automation,
Beihang University
,Beijing 100191
, China
e-mail: jjyu@buaa.edu.cn
Search for other works by this author on:
Xianwen Kong
School of Engineering and Physical Sciences,
e-mail: X.Kong@hw.ac.uk
Heriot-Watt University
,Edinburgh EH14 4AS
, UK
e-mail: X.Kong@hw.ac.uk
Jingjun Yu
Robotics Institute,
School of Mechanical Engineering
and Automation,
e-mail: jjyu@buaa.edu.cn
School of Mechanical Engineering
and Automation,
Beihang University
,Beijing 100191
, China
e-mail: jjyu@buaa.edu.cn
1Corresponding author.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received June 21, 2014; final manuscript received October 24, 2014; published online April 6, 2015. Assoc. Editor: J. M. Selig.
J. Mechanisms Robotics. Nov 2015, 7(4): 041018 (8 pages)
Published Online: November 1, 2015
Article history
Received:
June 21, 2014
Revision Received:
October 24, 2014
Online:
April 6, 2015
Citation
Kong, X., and Yu, J. (November 1, 2015). "Type Synthesis of Two-Degrees-of-Freedom 3-4R Parallel Mechanisms With Both Spherical Translation Mode and Sphere-on-Sphere Rolling Mode." ASME. J. Mechanisms Robotics. November 2015; 7(4): 041018. https://doi.org/10.1115/1.4029118
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