Type synthesis of metamorphic parallel robots based on the serial-chain database

Abstract

In comparison with traditional parallel robots, metamorphic parallel robots (MPRs) have the advantages of variable topology and mobility and can be applied under some complex working conditions. In this study, MPRs are divided into two categories according to the variation of mechanism-constraint systems. Subsequently, the constraint-incidence matrix is defined to describe serial chains and a serial-chain database is established. Based on the constraint screw theory, the desired reconfigurable chains can be synthesized by selecting similar serial chains in the serial-chain database, so as to construct the desired MPRs. Furthermore, the proposed synthesis method is demonstrated in detail through the type synthesis of two kinds of MPRs, and nine novel MPRs are synthesized. The proposed synthesis method provides a new theoretical tool for designing MPRs and has the advantages of intuition and easy operation.