Research Papers

Constraint-Based Limb Synthesis and Mobility-Change-Aimed Mechanism Construction

[+] Author and Article Information
Dongming Gan, Darwin G. Caldwell

 Advanced Robotics Department, Italian Institute of Technology, Genoa, Italy 16163

Jian S. Dai

School of Physical Sciences and Engineering, King’s College of London,  University of London, London, United Kingdom WC2R2LS Advanced Robotics Department, Italian Institute of Technology, Genoa, Italy 16163

J. Mech. Des 133(5), 051001 (Jun 02, 2011) (9 pages) doi:10.1115/1.4003920 History: Received September 16, 2010; Revised March 20, 2011; Published June 02, 2011; Online June 02, 2011

This paper proposes a new synthesis approach by using constraints for limb synthesis to target mobility-change in the mechanism construction. The limbs therefore produced have the facility to reconfigure the limb twist-system to change the screw system order for reconfigurability. This presents various reconfigurable limbs with geometric constraints of their joints based on the newly invented reconfigurable Hook (rT) joints. The procedure of the limb synthesis is put forward to fully utilize the property of the new joint for generating the reconfigurable limbs. The paper further presents a mobility-change condition to construct a metamorphic mechanism with the reconfigurable limbs. This gives a family of metamorphic parallel mechanisms that have the facility to change mobility in the range of 3– 6. A further family of metamorphic parallel mechanisms is proposed with a central strut. Their topological configuration change is investigated by examining the constraint change stemming from the phase alteration of the reconfigurable Hooke rT joint.

Copyright © 2011 by American Society of Mechanical Engineers
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Figure 1

A reconfigurable Hooke (rT) joint and its symbolic representation (a) structure of the rT joint and (b) symbolic representation of the rT joint

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Figure 2

Two phases of the rT joint (a) Phase 1 and (b) Phase 2

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Figure 3

Co-linear order-change

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Figure 4

Co-spherical and co-planar order-change of the reconfigurable-limb twist system (a) Co-spherical and (b) Co-planar

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Figure 5

A 2-stage mobility-change of a reconfigurable limb

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Figure 6

The R(rT)S reconfigurable limb (a) R(rT)1 S and (b) R(rT)2 S

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Figure 7

Arrangement of constraint forces and corresponding 3R(rT)2 S parallel mechanism

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Figure 8

The three more topological configurations of the 3R(rT)2 S parallel mechanism (a) 1R(rT)1 S-2R(rT)2 S and (b) 2R(rT)1 S-1R(rT)2 S (c)3R(rT)1 S

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Figure 9

The C(rT) reconfigurable limb (a) C(rT)1 and (b) C(rT)2

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Figure 10

Two configurations of the 3SPS-1C(rT) metamorphic parallel mechanism (a) 3SPS-1C(rT)1 and (b) 3SPS-1C(rT)2

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Figure 11

Two topological configurations of the 3SPS-1(rT)RR metamorphic parallel mechanism (a) 3SPS-1(rT)1 RR and (b) 3SPS-1(rT)2 RR



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