Abstract
A 3-DOF (degrees-of-freedom) multi-mode translational/spherical PM (parallel mechanism) with lockable joints is a novel reconfigurable PM. It has both 3-DOF spatial translational operation mode and 3-DOF spherical operation mode. This paper presents an approach to the type synthesis of translational/spherical PMs with lockable joints. Using the proposed approach, several 3-DOF translational/spherical PMs are obtained. It is found that these translational/spherical PMs do not encounter constraint singular configurations and self-motion of sub-chain of a leg during reconfiguration. The approach can also be used for synthesizing other classes of multi-mode PMs with lockable joints, multi-mode PMs with variable kinematic joints, partially decoupled PMs, and reconfigurable PMs with a reconfigurable platform.
| Original language | English |
|---|---|
| Pages (from-to) | 323-333 |
| Number of pages | 11 |
| Journal | Mechanism and Machine Theory |
| Volume | 96 |
| Issue number | Part 2 |
| Early online date | 26 May 2015 |
| DOIs | |
| Publication status | Published - Feb 2016 |
Keywords
- Lockable joint
- Multi-mode parallel mechanism
- Parallel mechanism
- Reconfigurable mechanism
- Screw theory
- Type synthesis
ASJC Scopus subject areas
- Mechanical Engineering
- Mechanics of Materials
- Computer Science Applications
- Bioengineering
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Xianwen Kong
- School of Engineering & Physical Sciences - Associate Professor
- School of Engineering & Physical Sciences, Institute of Mechanical, Process & Energy Engineering - Associate Professor
Person: Academic (Research & Teaching)