Type Synthesis of a Novel Class of One-DOF Multi-Mode Parallel Mechanisms

Xianwen Kong, Xiuyun He, Tom Kostalas

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Abstract

Multi-mode parallel mechanisms (PMs) are a class of reconfigurable mechanisms that can switch between different operation modes without the need for disconnection and reassembly. Although a number of multi-DOF multi-mode PMs have been presented in the literature, very few 1-DOF multi-mode PMs have been proposed. This paper deals with the type synthesis of a novel class of 1-DOF multi-mode PMs, which have one 1-DOF translation mode and at least one 1-DOF planar motion mode, using a construction method by leveraging symmetry of mechanisms and merging two multi-mode mechanisms. By inserting a revolute (R) joint into Sarrus-6R like six-joint mechanisms, 1-DOF two-mode two-legged PMs, which are composed of a moving platform and a base connected by one three-joint leg and one four-joint leg, are constructed first. From each 1-DOF two-mode two-legged PM, one can construct a 1-DOF two-mode three-legged PM by adding a third four-joint leg which is the mirror image of the four-joint leg about the plane of motion of the three-joint leg. Subsequently, 1-DOF three- and four-mode three-legged PMs are constructed by merging two 1-DOF multi-mode three-legged PMs. The instantaneous DOF of the above multi-mode PMs in a transition configuration is analyzed using screw theory. This work complements the existing approaches to the type synthesis of multi-mode PMs and hybrid reconfigurable mechanisms.
Original languageEnglish
Article number044504
JournalJournal of Mechanisms and Robotics
Volume17
Issue number4
Early online date6 Nov 2024
DOIs
Publication statusE-pub ahead of print - 6 Nov 2024
EventASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Washington, United States
Duration: 25 Aug 202428 Aug 2024
https://event.asme.org/IDETC-CIE

Keywords

  • Reconfigurable mechanism
  • Type synthesis
  • Multi-mode parallel mechanism
  • Overconstrained mechanism
  • Screw theory
  • Sarrus linkage

ASJC Scopus subject areas

  • Engineering(all)

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