Article
Engineering, Mechanical
Shuofei Yang, Jian S. Dai, Yan Jin, Rao Fu
Summary: This paper investigates the motion analysis of parallel mechanisms composed of three PRS limbs with planar-spherical manifolds. It proposes a finite displacement screw-based group method to resolve the issue of limb arrangement's influence on mechanism motion. The novel approach presents results in expressions of new types of manifold motions, providing a foundation for the design and application of parallel mechanisms with various three-planar-spherical manifolds' intersection motions.
MECHANISM AND MACHINE THEORY
(2022)
Article
Engineering, Mechanical
Pu Jia, Duanling Li, Yuankai Zhang, Chao Yang
Summary: In this paper, a spatial metamorphic four-link mechanism (SMM) based on the metamorphic universal joint is proposed. Different types of SMMs are constructed by adjusting the axis position of the universal joint. A reconfigurable hybrid limb is constructed based on the motion characteristics of each phase of SMM, and a new type of reconfigurable parallel mechanism (RPM) is designed. The results show that the performance of the RPM can be changed with different degrees of freedom.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2022)
Article
Engineering, Mechanical
Chunxu Tian, Dan Zhang, Hongyan Tang, Chenwei Wu
Summary: This paper introduces a new method of constructing reconfigurable generalized parallel mechanisms by integrating closed-loop kinematotropic linkages with configurable platforms for the first time. By analyzing the geometrical configurations of the kinematotropic linkages and investigating the kinematic constraints of reconfigurable GPMs based on the algebraic structure properties of Lie group, a new class of reconfigurable GPMs with configurable platforms is synthesized, enabling the execution of various motion models.
MECHANISM AND MACHINE THEORY
(2021)
Article
Engineering, Mechanical
Ruiqin Wang, Yaqing Song, Jian S. Dai
Summary: Origami engineering contributes to the progress of mechanisms innovation as an interdisciplinary subject. This paper proposes a construction method from origami to multiple spherical integrated mechanisms, establishing a bridge between origami and Bennett linkage, Bricard linkage. Furthermore, a special origami-inspired integrated 8R kinematotropic metamorphic mechanism is discussed, applying screw theory to illustrate the reconfigurability of singular configurations in the mechanism.
MECHANISM AND MACHINE THEORY
(2021)
Article
Engineering, Mechanical
Guanyu Huang, Dan Zhang, Qi Zou, Wei Ye, Lingyu Kong
Summary: This paper proposes a method to design reconfigurable parallel mechanisms by applying reconfigurable platforms. Basic rules for designing a reconfigurable platform are proposed based on the requirements of convenience and reliability. Single-stage and double-stage mechanisms are designed based on Degree of Freedom formulation, and both single-loop and multi-loop reconfigurable platforms are presented. Over-constrained mechanisms for the spatial reconfigurable platform are designed according to screw theory. Single-loop over-constrained mechanisms are developed into multi-loop over-constrained mechanisms to meet the structural requirement of multi-limb, parallel-mechanism. Finally, a typical reconfigurable parallel mechanism is selected and analyzed in terms of kinematics, performance, and dimension synthesis based on multi-objective optimization using global indices.
MECHANISM AND MACHINE THEORY
(2023)
Article
Engineering, Mechanical
Luquan Li, Yuefa Fang, Jiaqiang Yao, Lin Wang
Summary: This paper introduces a novel 3-DOF parallel leg mechanism that overcomes the issues of complex structures and control systems in traditional parallel mechanisms. The mechanism is constructed using a simplified method and shows potential performance advantages, making it suitable for integration with walking robots.
MECHANISM AND MACHINE THEORY
(2022)
Article
Engineering, Mechanical
Wei Ye, Lihuan Hu, Qinchuan Li
Summary: This paper introduces a novel reconfigurable parallel mechanism that can achieve different degrees of freedom configurations through switch configuration, and it has the potential to be used in applications with multi-task requirements.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2022)
Article
Engineering, Mechanical
Luquan Li, Yuefa Fang, Lin Wang
Summary: This paper systematically develops the type synthesis of single-loop parallel mechanisms with three translations along three independent directions and one rotation around one fixed direction. A novel systematic method is proposed based on Lie group theory and previously presented multi-DOF drive systems. Two different connecting styles are introduced to improve the rotation function of the mechanisms, and two classes of 3T1R-PMs with different drive systems are constructed. Simulations are implemented to demonstrate the large pose operation capability of the mechanisms.
MECHANISM AND MACHINE THEORY
(2021)
Article
Computer Science, Interdisciplinary Applications
Yanqin Zhao, Yan Jin, Harry Anderson, Colm Higgins
Summary: A new lockable spherical joint is proposed in this paper, which can be used as revolute, universal, or spherical joint. Three locking methods are introduced for constructing the lockable spherical joint. Based on this, a new reconfigurable parallel mechanism (RPM) with a large positioning workspace is presented, allowing translation and rotation in different operative modes. The RPM has potential applications in machine tools, fixtures, and manipulators. Two modular reconfigurable manufacturing systems for aircraft assembly production are designed based on the new RPM, along with a reconfiguration strategy.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2023)
Article
Computer Science, Interdisciplinary Applications
Renato M. Fonseca
Summary: GroupMath is a Mathematica package that performs calculations related to semi-simple Lie algebras and permutation groups, important in various physics areas. It computes basis-independent quantities (such as roots, weights, decomposition of representations, branching rules) and basis-dependent ones (including representation matrices, Clebsch-Gordon coefficients), tailored for theoretical particle physicists’ specific needs.
COMPUTER PHYSICS COMMUNICATIONS
(2021)
Article
Chemistry, Multidisciplinary
Alexey Fomin, Daniil Petelin, Anton Antonov, Victor Glazunov, Marco Ceccarelli
Summary: This paper introduces novel models of reconfigurable parallel mechanisms with a single active degree-of-freedom, utilizing screw theory for mobility analysis and achieving reconfiguration capabilities for diverse output trajectories. Virtual and physical prototypes for a mechanism with six kinematic chains have been developed, along with detailed CAD models for designing and assembling algorithms. The virtual prototype and calculation data have been used to fabricate mechanism elements and assemble a full-scale physical prototype for future testing.
APPLIED SCIENCES-BASEL
(2021)
Article
Engineering, Mechanical
Chunxu Tian, Dan Zhang
Summary: This paper focuses on the design and analysis of novel generalized parallel manipulators (GPMs) with configurable platforms, including type synthesis and motion characteristics analysis. Numerical examples and simulation results were used to demonstrate the methodology and discuss the potential applications of GPMs.
MECHANISM AND MACHINE THEORY
(2021)
Article
Robotics
Sa-Reum Kim, Dae-Young Lee, Sang-Joon Ahn, Je-Sung Koh, Kyu-Jin Cho
Summary: The article introduces a three-dimensional shape-shifting system that addresses the stability issue of shape memory alloy wire actuators by tuning the structural characteristics of morphing origami blocks. This cooperative scheme enhances the reversibility and stability of the shape-shifting system, enabling rapid transformation with high degrees of freedom, unlike existing programmable origami. As a stand-alone transformation unit, the morphing block equipped with deployable mechanisms and actuators weighs 6 g, has a volume change factor of ten, can complete transformation in less than 5 s in both directions, and can carry more than 120 g of payload in the deployed state.
IEEE TRANSACTIONS ON ROBOTICS
(2021)
Article
Engineering, Mechanical
Zhihao Xia, Dan Zhang, Yanyu Chen, Chunxu Tian, Jian Liu, Chenwei Wu
Summary: This paper presents a 6-DOFs generalized parallel manipulator that can be used as a humanoid leg. It introduces a novel method called Node Response Method (NRM) to identify the isomorphism of contracted graphs. The performance of the manipulator in different terrains is evaluated by analyzing the limbs and establishing a terrain adaptive index.
MECHANISM AND MACHINE THEORY
(2022)
Article
Chemistry, Multidisciplinary
Terence Essomba, Juan Sandoval, Med Amine Laribi, Chieh-Tsai Wu, Cyril Breque, Said Zeghloul, Jean-pierre Richer
Summary: This paper presents a robotic manipulator for craniotomy based on SPM architecture, which is capable of improving its behavior and minimizing motor torques through spinning motion, as shown in experimental analyses.
APPLIED SCIENCES-BASEL
(2021)
