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A Kinematotropic Parallel Mechanism Reconfiguring Between Three Motion Branches of Different Mobility

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Advances in Mechanism and Machine Science (IFToMM WC 2019)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 73))

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Abstract

The configuration space of most of the reported kinematotropic mechanisms consists of several subvarieties whose dimension varies between two values. Therefore, most of the reported kinematotropic mechanisms can change their number of degrees of freedom between two values only. In this paper a fully parallel mechanism is presented which has a configuration space with at least three subvarieties of different dimensions. These subvarieties intersect at least at two singular points, which allow the mechanism to reconfigure between three branches without disassembling it and, therefore, the proposed mechanism can change its number of degrees of freedom between three values.

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Acknowledgements

P.C. López-Custodio thanks TheMexican National Council for Science and Technology (CONACyT) and the Advanced Kinematics and Reconfigurable Robotics Lab at King’s College for the support awarded to pursue doctoral studies. A. Müller acknowledges that work has been supported by the “LCM K2 Center for Symbiotic Mechatronics” within the framework of the Austrian COMETK2 program. P.C. López-Custodio and J.S. Dai acknowledge the support of the Engineering and Physical Sciences Research Council (EPSRC) projects with reference numbers EP/P025447/1 and EP/P026087/1.

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Authors and Affiliations

  1. King’s College London, Strand, W2R2LS, London, UK

    P. C. López-Custodio & J. S. Dai

  2. Johannes Kepler University, Linz, Austria

    A. Müller

Authors
  1. P. C. López-Custodio
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  2. A. Müller
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  3. J. S. Dai
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Correspondence to P. C. López-Custodio .

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Editors and Affiliations

  1. Robotics & Machine Dynamics Group, University of Mining and Metallurgy, Kraków, Poland

    Tadeusz Uhl

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López-Custodio, P.C., Müller, A., Dai, J.S. (2019). A Kinematotropic Parallel Mechanism Reconfiguring Between Three Motion Branches of Different Mobility. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_258

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