Abstract
In this paper, a family of n-4R reconfigurable parallel mechanisms (RPMs) capable of geometrical reconfiguration are presented, and the effect of the limb number n on the DOF, workspace and accuracy is investigated. An amazing fact is that the reconfiguration results in these multiple candidate configurations with similar kinematic performances and even the same DOF characteristic, which is maybe helpful for robustness and hyper-redundant design of mechanical devices. Meanwhile, each configuration has its own associated workspace and accuracy capabilities, although the variance is not obvious. This work will provide some guidance in selecting the appropriate configuration or further optimization.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Xi, F., Li, Y., Wang, H.: Module-based method for design and analysis of reconfigurable parallel robots. Front. Mech. Eng. 6(2), 151–159 (2011)
Bi, Z.M., Wang, L.: Optimal design of reconfigurable parallel machining systems. Robot. Comput. Int. Manuf. 25, 951–961 (2009)
Kotlarski, J., Abdellatif, H., Ortmaier, T., Heimann, B.: Englaring the usable workspace of planar parallel robots using mechanisms of variable geometry. In: Proceedings of International Conference on Reconfigurable Mechanisms and Robots, pp. 94–103 (2009)
Sofka, J., Adviser-Skormin, V.: New Generation of Gimbals Systems for Aerospace Applications. State University of New York, Binghamton (2007)
Yu, J.J., Dong, X., Pei, X., Kong, X.W.: Mobility and singularity analysis of a class of 2-DOF rotational parallel mechanisms using a visual graphic approach. ASME J. Mech. Robot. 4(4), 041006 (2012)
Niku, S.B.: Introduction to Robotics: Analysis, Systems, Applications. Prentice Hall, New Jersey (2001)
Spong, M.W., Vidyasagar, M.: Robot Dynamics and Control. John Wiley & Sons, New York (1989)
Wu, G., Bai, S., Kepler, J.A., Caro, S.: Error modeling and experimental validation of a planar 3-PPR parallel manipulator with joint clearances. J. Mech. Robot. 4(4), 041008 (2012)
Acknowledgements
The authors greatly acknowledge the financial support of the National Natural Science Foundation of China under Grant No. 51175010 and No. 51175011.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Jingjun, Y., Zhixiang, D., Yan, X. (2016). Kinematics Analysis of n-4R Reconfigurable Parallel Mechanisms. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_24
Download citation
DOI: https://doi.org/10.1007/978-3-319-23327-7_24
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-23326-0
Online ISBN: 978-3-319-23327-7
eBook Packages: EngineeringEngineering (R0)