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

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

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Authors

L Nurahmi

P Putrayudanto

SK Agrawal



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

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