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Research Papers

Geometric Constraint and Mobility Variation of Two 3SvPSv Metamorphic Parallel Mechanisms

[+] Author and Article Information
Ketao Zhang

Research Assistant
Centre for Robotics Research,
King’s College London,
University of London,
Strand, London WC2R 2LS, UK;
Department of Mechanical Engineering,
Beijing Jiaotong University,
Beijing, 100044, P.R. China
e-mail: ketao.zhang@kcl.ac.uk

Jian S. Dai

Chair of Mechanisms and Robotics,
Centre for Robotics Research,
King’s College London,
University of London,
Strand, London WC2R 2LS, UK;
Centre for Advanced Mechanisms and Robotics,
MoE Key Laboratory for Mechanism Theory
and Equipment Design,
School of Mechanical Engineering,
Tianjin University,
Tianjin, P.R. China
e-mail: jian.dai@kcl.ac.uk

Yuefa Fang

Professor of Design and Parallel Mechanisms,
Department of Mechanical Engineering,
Beijing Jiaotong University,
Beijing, 100044, P.R. China
e-mail: yffang@bjtu.edu.cn

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanical Design. Manuscript received November 6, 2011; final manuscript received October 7, 2012; published online November 19, 2012. Assoc. Editor: Ashitava Ghosal.

J. Mech. Des 135(1), 011001 (Nov 19, 2012) (8 pages) Paper No: MD-11-1451; doi: 10.1115/1.4007920 History: Received November 06, 2011; Revised October 07, 2012

This paper presents a unique feature of geometric constraint of adjacent axes of the variable-axis (vA) joint and analyses the effectiveness in the constructed limb, resulting in variation of mobility configuration of two 3SvPSv metamorphic parallel mechanisms. The underlying principle of the metamorphosis of this vA joint is unravelled by investigating the dependence of the corresponding screw system comprising of line vectors, leading to evolution of the vA joint from the source phase Sv to the variable Hooke’s joint phase Uv and the variable revolute-joint phase Rv. The kinematic chain installed with the vA joint forms a reconfigurable limb and is then used to construct two 3SvPSv metamorphic parallel mechanisms proposed in this paper. The phase change of the vA joints incurs the constraint change of the SvPSv limb and subsequently results in the change of mobility configuration of the metamorphic parallel mechanisms. The paper further addresses the geometrical condition for constructing 3SvPSv metamorphic parallel mechanisms following the constraints delivered by the reconfigurable limbs, leading to the analysis of mobility change of the mechanisms induced by the phase change of the limbs.

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Figures

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Fig. 1

Source phase Sv of the vA joint

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Fig. 2

Hooke’s joint and revolute-joint phases of the vA joint (a) Uv phase and (b) Rv phase

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Fig. 3

A SvPSv metamorphic limb

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Fig. 6

Two UvPUv phases of the SvPSv limb (a) UvPUv-I: S1 andS7 have a common point and (b) UvPUv-II: S1 and S7 are parallel

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Fig. 7

Phase UvPRv of the SvPSv limb

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Fig. 9

The 3SvPSv-I metamorphic parallel mechanism

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Fig. 10

Phase 3RvPSv of the metamorphic parallel mechanism 3SvPSv-I

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Fig. 11

Phase 3UvPUv of the metamorphic parallel mechanism 3SvPSv-I

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Fig. 12

The SvPSv-II metamorphic parallel mechanism

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Fig. 13

Phase 3UvPUv of the metamorphic parallel mechanism 3SvPSv-II

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