Virtual and Physical Prototyping of Reconfigurable Parallel Mechanisms with Single Actuation

The paper presents novel models of reconfigurable parallel mechanisms (RPMs) with a single active degree-of-freedom (1-DOF). contain three to six identical kinematic chains, which provide (for the tripod) zero hexapod) uncontrollable DOFs. Screw theory is applied carry out mobility analysis and proves existence controllable DOFs these mechanisms. Each chain in synthesized consists planar spatial parts. Such design provides them reconfiguration capabilities even when driving link fixed. This allows reproduction diverse output trajectories without using additional actuators. In this paper, model mechanism chains (hexapod) has been virtually physically prototyped. designing assembling algorithms are developed detailed computer-aided (CAD) model, was further used kinetostatic considering complex geometry elements friction among all contacting surfaces joints. virtual prototype its calculation data have fabricate assemble an actuated full-scale physical for future testing.