Structure Synthesis and Reconfiguration Analysis of Variable-Degree-of-Freedom Single-Loop Mechanisms With Prismatic Joints Using Dual Quaternions

Kai Liu*, Jingjun Yu, Xianwen Kong

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

Abstract

This paper deals with the structure synthesis and reconfiguration analysis of variable-DOF (variable-degree-of-freedom) single-loop mechanisms with prismatic joints based on a unified tool—the dual quaternion. According to motion polynomials over dual quaternions, an algebraic method is presented to synthesize variable-DOF single-loop 5R2P mechanisms (R and P denote revolute and prismatic joints, respectively), which are composed of the Bennett and RPRP mechanisms. Using this approach, variable-DOF single-loop RRPRPRR and RRPRRPR mechanisms are constructed by joints obtained from the factorization of motion polynomials. Then reconfiguration analysis of these variable-DOF single-loop mechanisms is performed in light of the kinematic mapping based on dual quaternions as well as the prime decomposition. The results show that the variable-DOF 5R2P mechanisms have a 1DOF spatial 5P2P motion mode and a 2DOF Bennett-RPRP motion mode. Furthermore, the variable-DOF 5R2P mechanisms have two transition configurations, from which the mechanisms can switch among their two motion modes.

Original languageEnglish
Article number021009
JournalJournal of Mechanisms and Robotics
Volume14
Issue number2
Early online date21 Sep 2021
DOIs
Publication statusPublished - Apr 2022

Keywords

  • Dual quaternion
  • Mechanism synthesis
  • Motion polynomial
  • Reconfigurable mechanism
  • Reconfiguration analysis
  • Variable-DOF mechanism

ASJC Scopus subject areas

  • Mechanical Engineering

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