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Geometry and kinematics for a spherical-base integrated parallel mechanism

Sun, J; Zhang, X; Wei, G; Dai, JS

Geometry and kinematics for a spherical-base integrated parallel mechanism Thumbnail


Authors

J Sun

X Zhang

JS Dai



Abstract

Parallel mechanisms, in general, have a rigid base and a moving platform connected by several limbs. For achieving higher mobility and dexterity, more degrees of freedom are introduced to the limbs. However, very few researchers focus on changing the design of the rigid base and making it foldable and reconfigurable to improve the performance of the mechanism. Inspired by manipulating an object with a metamorphic robotic hand, this paper presents for the first time a parallel mechanism with a reconfigurable base. This novel spherical-base integrated parallel mechanism has an enlarged workspace compared with traditional parallel manipulators. Evolution and structure of the proposed parallel mechanism is introduced and the geometric constraint of the mechanism is investigated based on mechanism decomposition. Further, kinematics of the proposed mechanism is reduced to the solution of a univariate polynomial of degree 8. Moreover, screw theory based Jacobian is presented followed by the velocity analysis of the mechanism.

Citation

Sun, J., Zhang, X., Wei, G., & Dai, J. (2016). Geometry and kinematics for a spherical-base integrated parallel mechanism. Meccanica, 51(7), 1607-1621. https://doi.org/10.1007/s11012-016-0438-7

Journal Article Type Article
Acceptance Date Mar 2, 2016
Online Publication Date May 2, 2016
Publication Date Jul 1, 2016
Deposit Date May 10, 2016
Publicly Available Date Oct 30, 2018
Journal Meccanica
Print ISSN 0025-6455
Electronic ISSN 1572-9648
Publisher Springer Verlag
Volume 51
Issue 7
Pages 1607-1621
DOI https://doi.org/10.1007/s11012-016-0438-7
Publisher URL http://dx.doi.org/10.1007/s11012-016-0438-7
Related Public URLs http://link.springer.com/journal/11012
Additional Information Funders : European Commission
Projects : SQUIRREL
Grant Number: 610532

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