Abstract
This paper presents the design approach for 3-DOF (degrees-of-freedom) reconfigurable planar parallel mechanism (RPPM) with modular kinematic limbs and hybrid platform. Using the proposed approach, a series of kinematic models with rotatability are obtained. At first, the main models of PPMs are constructed. Then a series of configuration models of PPM modules are reconstructed. And the new configuration families of 3-DOF PPMs are obtained. Finally, the motion trajectories of three driven layout configurations are simulated, and the results show that the hybrid-loop platform can expand the workspace of PPM. Especially, the configurations of the PPM can transform from the two operations modes to the original mode.
Highlights
In the past twenty years, researchers have made extensive research on reconfigurable mechanisms for its potential benefits and good application perspectives
In order to draw the reachable workspace for the reconfigurable planar parallel mechanism (RPPM), the superposition method of motion trajectory for each kinematic limb is adopted in this study
A new full information modeling method has been proposed to the RPPM
Summary
In the past twenty years, researchers have made extensive research on reconfigurable mechanisms for its potential benefits and good application perspectives. The configuration reconstruction of parallel mechanism is mostly based on the diverse complex mathematical calculation, such as the screw theory [11], constraint changes characteristic of synthesis method [12], limb construction method [13], and so on. These calculation methods provide the algorithm rules for the configuration reconstruction. A new integrated modelling method is presented for the 3-DOF PPMs in this paper, which contains scale information and motion information of mechanism
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