Geometric constraint-based reconfiguration and self-motions of a 4-CRU parallel mechanism

Nurahmi, L; Putrayudanto, P; Wei, G; Agrawal, SK

Abstract

This paper aims to investigate the reconfiguration and self-motions of a 4-CRU parallel mechanism based on the mechanism geometric constraints. The targeted application of such mechanism in this research is for 3D-printing buildings of multi-directional nozzle as a new technology for constructing sustainable housing. By using primary decomposition, four geometric constraints are identified and the reconfiguration analysis is carried out in each of these. It reveals that each geometric constraint will have three distinct operation modes, namely Schoenflies mode, reversed Schoenflies mode and an additional mode. The additional mode can be either 4-DOF mode or it degenerates into 3-DOF mode, depending on the type of the geometric constraint. By taking into account the actuation and constraint singularities, the workspace of each operation mode is analysed and geometrically illustrated. It allows us to determine the regions in which the reconfiguration takes place. Furthermore, the moving-platform can still perform at least 1-DOF self-motion. It occurs at two specific actuated leg lengths. Demonstration of reconfiguration process and self-motions are also provided through a mock-up prototype.

Citation

Nurahmi, L., Putrayudanto, P., Wei, G., & Agrawal, S. (2021). Geometric constraint-based reconfiguration and self-motions of a 4-CRU parallel mechanism. Journal of Mechanisms and Robotics, 13(2), 021017. https://doi.org/10.1115/1.4049879

• Journal Article Type: Article
• Acceptance Date: Jan 4, 2021
• Online Publication Date: Mar 4, 2021
• Publication Date: Apr 1, 2021
• Deposit Date: Mar 1, 2021
• Publicly Available Date: Mar 4, 2022
• Journal: Journal of Mechanisms and Robotics
• Print ISSN: 1942-4302
• Electronic ISSN: 1942-4310
• Publisher: American Society of Mechanical Engineers
• Volume: 13
• Issue: 2
• Pages: 021017
• DOI: https://doi.org/10.1115/1.4049879
• Publisher URL: https://doi.org/10.1115/1.4049879
• Related Public URLs: http://mechanismsrobotics.asmedigitalcollection.asme.org/journal.aspx
• Additional Information: Additional Information : ** Article version: VoR ** From Crossref journal articles via Jisc Publications Router **Journal IDs: pissn 1942-4302; eissn 1942-4310; Access Information : ASME © 2021; Projects : IAPP1\100109