Design and configuration switching analysis of a novel 3−P⌢RPS reconfigurable parallel mechanism

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-01-23 DOI:10.1016/j.mechmachtheory.2025.105927

Yili Kuang , Haibo Qu , Xiao Li , Sheng Guo

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引用次数: 0

Abstract

This paper designed a novel 6-degree-of-freedom reconfigurable parallel mechanism with three configurations based on an origami-inspired base. The reconfigurable base serves as the foundation for connecting a parallel mechanism to form an adaptable and versatile robotic system. Firstly, kinematic performance of the mechanism is analyzed in different configurations, including position and velocity, reachable workspace, and singularity. To investigate the mechanism's configuration switching, we proposed a generative trajectory planning method incorporating an acceleration function. The method is capable of rapidly generating the trajectory of the mechanism with given initial and end positional points and effectively avoiding the singularities. Finally, to quantify reconfigurability performance of the mechanism, a reconfigurability index (RI) derived from foldability is proposed. The mechanism's reconfigurability is analyzed for different position/orientation points with the given initial orientation or position, respectively. The generative trajectory planning method proposed in this paper can be used for intelligent control of the mechanism. The reconfigurability index can be used as an important basis for actuation optimization and performance analysis of reconfigurable mechanisms.

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一种新型3−P RPS可重构并联机构的设计与配置切换分析

设计了一种基于折纸基的六自由度三构型可重构并联机构。可重构基座作为连接并联机构的基础，形成适应性强、多用途的机器人系统。首先，分析了机构在不同构型下的运动性能，包括位置和速度、可达工作空间和奇异性；为了研究机构的构型切换，提出了一种包含加速度函数的生成轨迹规划方法。该方法能够在给定起始点和结束点的情况下快速生成机构轨迹，并有效地避免了奇异性。最后，为了量化机构的可重构性能，提出了基于可折叠性的可重构性指标。在给定初始姿态和位置的情况下，分析了不同位置/姿态点的机构可重构性。本文提出的生成轨迹规划方法可用于机构的智能控制。可重构性指标可作为可重构机构驱动优化和性能分析的重要依据。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry