Yili Kuang, Haibo Qu, Xiao Li, Xiaolei Wang, Sheng Guo
{"title":"Design and singularity analysis of a parallel mechanism with origami-inspired reconfigurable 5R closed-loop linkages","authors":"Yili Kuang, Haibo Qu, Xiao Li, Xiaolei Wang, Sheng Guo","doi":"10.1017/s0263574724000560","DOIUrl":null,"url":null,"abstract":"The reconfigurable mechanisms can satisfy the requirements of changing environments, working conditions, and tasks on the function and performance of the mechanism and can be applied to machine tool manufacturing, space detection, etc. Inspired by the single-vertex fivefold origami pattern, a new reconfigurable parallel mechanism is proposed in this paper, which has special singular positions and stable motion due to replicating the stabilizing kinematic properties of origami. Through analyzing the topologic change of the folding process of the pattern and treating it as a reconfigurable joint, a new reconfigurable parallel mechanism with 3, 4, 5, or 6 degrees of freedom is obtained. Then, the kinematics solution, workspace, and singularity of the mechanism are calculated. The results indicate that the singular configuration of the origami-derived reconfigurable parallel mechanism is mainly located in a special plane, and the scope of the workspace is still large after the configuration change. The mechanism has the potential to adapt to multiple tasks and working conditions through the conversion among different configurations by folding reconfigurable joints on the branch chain.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":1.9000,"publicationDate":"2024-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Robotica","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1017/s0263574724000560","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
The reconfigurable mechanisms can satisfy the requirements of changing environments, working conditions, and tasks on the function and performance of the mechanism and can be applied to machine tool manufacturing, space detection, etc. Inspired by the single-vertex fivefold origami pattern, a new reconfigurable parallel mechanism is proposed in this paper, which has special singular positions and stable motion due to replicating the stabilizing kinematic properties of origami. Through analyzing the topologic change of the folding process of the pattern and treating it as a reconfigurable joint, a new reconfigurable parallel mechanism with 3, 4, 5, or 6 degrees of freedom is obtained. Then, the kinematics solution, workspace, and singularity of the mechanism are calculated. The results indicate that the singular configuration of the origami-derived reconfigurable parallel mechanism is mainly located in a special plane, and the scope of the workspace is still large after the configuration change. The mechanism has the potential to adapt to multiple tasks and working conditions through the conversion among different configurations by folding reconfigurable joints on the branch chain.
期刊介绍:
Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.