Type synthesis of 3-DOF multi-mode translational/spherical parallel mechanisms with lockable joints

Xianwen Kong, Yan Jin

Research output: Contribution to journalArticle

43 Citations (Scopus)
166 Downloads (Pure)

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 languageEnglish
Pages (from-to)323-333
Number of pages11
JournalMechanism and Machine Theory
Volume96
Issue numberPart 2
Early online date26 May 2015
DOIs
Publication statusPublished - 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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