Abstract
A reconfigurable 3-RPRP spherical parallel mechanism (SPM) is presented, based on two kinds of prototype mechanisms, i.e., 3-RPR and 3-RRP SPMs. The conversion among different configurations is achieved by locking some of the kinematic pairs. According to the permutations and combinations of the number and position of the kinematic pairs locked, 10 kinds of kinematic limbs with different degrees of freedom and configurations can be reconstructed without disassembly. In the paper, the design of the reconfigurable 3-RPRP SPM is described. Kinematics model of the SPM is established, which is applicable for all configurations. A three-dimensional (3D) search method to find the reachable workspace of a reconfigurable SPM is presented.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
