Abstract
This paper presents a hexapod-type reconfigurable parallel mechanism that operates from a single actuator. The mechanism design allows reproducing diverse output link trajectories without using additional actuators. The paper provides the kinematic analysis where the analytical relationships between the output link coordinates and actuated movement are determined. These relations are used next to develop an original and computationally effective algorithm for the reconfiguration procedure. The algorithm enables selecting mechanism parameters to realize a specific output link trajectory. Several examples demonstrate the implementation of the proposed techniques. CAD simulations on a mechanism virtual prototype verify the correctness of the suggested algorithm.
Highlights
A reconfigurable parallel mechanism (RPM) allows changing its configuration to obtain different output link trajectories or vary the dimensions of its workspaces
Set desired motion Xg (t) for one output link coordinate and calculate crank initial configuration β0 together with drive control law q(t) using the proposed reconfiguration algorithm; On the mechanism, manually disconnect the belts and reorient the cranks according to calculated values β0
We have presented a variation of the hexapod-type reconfigurable parallel mechanism equipped with a single drive
Summary
A reconfigurable parallel mechanism (RPM) allows changing its configuration to obtain different output link trajectories or vary the dimensions of its workspaces. This type of mechanisms has the advantages of a parallel structure: high positioning accuracy, ability to manipulate heavy loads, and high rigidity [1,2,3]. These characteristics allow the wide use of such mechanisms in technology. The problem of avoiding singularities in RPMs using actuation redundancy is proposed in [20]
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