Unified inverse dynamics for a novel class of metamorphic parallel mechanisms

Abstract

• A novel class of metamorphic parallel mechanism based on 3-PUPS mechanism is proposed. • The metamorphic parallel mechanism can be adapted into 32 new configurations by varying motor locking cell combinations. • A unified inverse dynamics model based on virtual working principle are established. • The derived unified inverse dynamics model has two different forms of expression, matrix form and Lagrange form. An inverse dynamics model for a novel metamorphic parallel mechanism was developed in this paper. First, the velocity relation between each moving member and the moving platform was analyzed systematically by examining the kinematics of the mechanism based on the metamorphic principle. The metamorphic parallel mechanism can be adapted into 32 configurations by various motor locking cell combinations. Second, a unified inverse dynamics model based on the virtual work principle was established. Finally, a novel 3-PUPS type metamorphic parallel mechanism was analyzed to demonstrate its universality and the correctness of the developed model.