Type synthesis of partially decoupled 2-DOF parallel mechanisms with two 1T1R operational modes

Research output: Chapter in Book/Report/Conference proceedingChapter (peer-reviewed)

2 Citations (Scopus)

Abstract

This paper deals with the type synthesis of partially decoupled 2-DOF parallel mechanisms with two 1T1R (one translation and one rotation) operational modes—a novel class of reconfigurable parallel mechanisms which can switch operational modes without disassembly. In the two 1T1R operational modes, the axes of rotation of the moving platform are different. A bi-mode revolute joint is defined to simplify the representation of motion patterns of the moving platform. Using the vitual-chain approach, the type synthesis of partially decoupled 2-DOF 1T1R parallel mechanisms and partially decoupled 2-DOF parallel mechanisms with two 1T1R operational modes is carried out. The proposed mechanisms need one less actuated joint than the existing parallel mechanisms with two 1T1R operational modes. This work provides a solid foundation for developing energy-efficient parallel mechanisms with two 1T1R operational modes.
Original languageEnglish
Title of host publicationAdvances in Reconfigurable Mechanisms and Robots I
Place of PublicationSpringer London
PublisherSpringer
Pages245-257
Number of pages13
ISBN (Electronic)978-1-4471-4141-9
ISBN (Print)978-1-4471-4140-2
DOIs
Publication statusPublished - 2012

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