Type-Changeable Kinematic Pair Evolved Reconfigurable Parallel Mechanisms

摘要：

This paper presents a type-changeable kinematic pair with variable topology. The geometry properties and topological phases of the type-changeable kinematic joint are revealed. A novel reconfigurable parallel mechanism is evolved from the type-changeable kinematic pair according to geometric conditions of assemblages for parallel mechanisms. The platform of the reconfigurable parallel mechanism is capable of implementing various functions accompanying to the phase change of the integrated type-changeable kinematic pair. The platform has 6 DOFs in the source phase and can change its mobility to 5, 4 and 3. Experiments have been carried out for identification of a 3RePSe subphase controller.

关键词： Type-changeable kinematic pair Reconfigurable parallel mechanism Screw theory

作者: Ketao Zhang Evangelos Emmanouil Yuefa Fang Jian S. Dai

作者单位: Centre for Robotics Research, Kings College London, University of London, Strand,London, WC2R 2LS, Centre for Robotics Research, Kings College London, University of London, Strand,London, WC2R 2LS, Department of Mechanical Engineering, Beijing Jiaotong University, 100044 Beijing,Peoples Republic

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 309-319

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）