Type Synthesis of Two-Degrees-of-Freedom 3-4R Parallel Mechanisms With Both Spherical Translation Mode and Sphere-on-Sphere Rolling Mode

Xianwen Kong, Jingjun Yu

Research output: Contribution to journalArticlepeer-review

21 Citations (Scopus)

Abstract

Parallel manipulators (PMs) with multiple operation modes are novel reconfigurable PMs which use less number of actuators and can be reconfigured without disassembly. This paper deals with the type synthesis of 2-DOF (degrees-of-freedom) PMs with both spherical translation mode and sphere-on-sphere rolling mode. A spherical translation is the 2-DOF spatial translation under which the trajectory of any point on the moving link is a sphere. A sphere-on-sphere rolling refers to the rolling of a sphere without slipping and spinning on another sphere of the same diameter. At first, a 2-DOF 3-4R overconstrained PM is proposed based on an existing 5-DOF US equivalent PM. From this 2-DOF PM, we further obtain a 3-4R PM for sphere-on-sphere rolling and a 3-4R PM for spherical translation. By finding the common conditions for the 2-DOF 3-4R PM for spherical translation and 2-DOF 3-4R PM for sphere-on-sphere rolling, the types of 2-DOF 3-4R PMs with both spherical translation mode and sphere-on-sphere rolling mode are then obtained. The 2-DOF 3-4R PMs with both spherical translation mode and sphere-on-sphere rolling mode fall into two classes. In one class of PMs with both spherical translation mode and sphere-on-sphere rolling mode, the moving platform has 4 instantaneous DOF in a transition configuration. In another class of PMs with both spherical translation mode and sphere-on-sphere rolling mode, the moving platform has at most 3 instantaneous DOF in a transition configuration. This work enriches the types of PMs with multiple operation modes and overconstrained mechanisms.
Original languageEnglish
Article number 041018
Number of pages8
JournalJournal of Mechanisms and Robotics
Volume7
Issue number4
Early online date6 Apr 2015
DOIs
Publication statusPublished - Nov 2015

Fingerprint Dive into the research topics of 'Type Synthesis of Two-Degrees-of-Freedom 3-4R Parallel Mechanisms With Both Spherical Translation Mode and Sphere-on-Sphere Rolling Mode'. Together they form a unique fingerprint.

Cite this