Reconfiguration and Actuation Scheme of 3rTPS Metamorphic Parallel Mechanisms with Parallel Constraint Screws
This paper presents reconfiguration with mobility change of a class of metamorphic parallel mechanisms consisting of three reconfigurable rTPS limbs with parallel bracket rotation axes. Stemming from the reconfiguration of the reconfigurable Hooke (rT) joint, the rTPS limb has two phases with one having full mobility and the other giving a constraint force to the platform based on the constraint screws. The platform constraint screw systems show that the new metamorphic parallel mechanisms have four topologies by altering the limb phases with mobility change among 1R2T (one rotation with two translations), 2R2T, 3R2T and mobility 6. Special topologies are identified considering the limb arrangement. Following these, actuation scheme is discussed by covering all the topologies of the metamorphic parallel mechanisms based on constraint screws.
Reconfiguration Mobility change Constraint screw Singularity Parallel mechanism
Dongming Gan Jian S. Dai Jorge Dias Lakmal Seneviratne
Khalifa University of Science, Technology and Research,127788 Abu Dhabi, UAE Kings College London, University of London, London,WC2R2LS, UK Khalifa University of Science, Technology and Research,127788 Abu Dhabi, UAE University of Coimbra, Khalifa University of Science, Technology and Research,127788 Abu Dhabi, UAE Kings College London,
国际会议
天津
英文
259-268
2012-07-08（万方平台首次上网日期，不代表论文的发表时间）