Reconfigurable Parallel Mechanisms with Three Types of Kinematotropic Chains
نویسندگان
چکیده
This paper presents the idea of constructing reconfigurable kinematic limbs by integrating kinematotropic linkages as subchains. Three kinematotropic chains characterized by change in pair connectivities without change of the number of degrees of freedom are concerned and the branch transitions are analyzed. Reconfigurable kinematic limb that provides a constraint couple in one configuration and a constraint force in the other configuration is desired and the constraint of serial chain used in the construction of this kind of limb is identified. The requirements of constructing reconfigurable limbs with three kinematotropic chains are analyzed. A class of reconfigurable parallel mechanisms is constructed by connecting a moving platform to a fixed base with three identical reconfigurable limbs. The platform of each reconfigurable parallel mechanism has the ability to perform various motion modes including 3T motion, 2T1R motion, 2R1T motion and 3R motion. Two reconfigurable parallel mechanisms are sketched as examples and the actuation scheme for the mechanisms in this class is discussed.
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