The novel synthesis of generalized parallel manipulators with 8R Kirigami-inspired configurable platform

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-03-24 DOI:10.1016/j.mechmachtheory.2025.106003

Yongheng Xing , Chunxu Tian , Zhihao Xia , Jie Gu , Dan Zhang

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引用次数: 0

Abstract

This paper proposes a novel method to design metamorphic Spatial Single-loop Linkages (SSL) through Kirigami technology. The integration of the proposed Kirigami-inspired mechanism puts forward the development of reconfigurable Generalized Parallel Manipulators (GPMs). First, the cut points are introduced into the crease patterns to generate Kirigami-inspired crease patterns. Such Kirigami-inspired crease patterns obtain a novel 8R metamorphic SSL. Then, to investigate the motion characteristics of the derived mechanism, the constraint screw method is utilized to analyze the parameter configurations associated with singular positions and different motion trajectories. Moreover, this paper presents an innovative approach to constructing reconfigurable GPMs with the proposed SSL. According to the working scenarios, the desired relative motion sets can be mapped to actual motion sets. Utilizing the Lie group theory, the arrangement of mechanical generators of the limbs can be obtained. Finally, this research highlights the potential application of the proposed GPM with the configurable platform: landing manipulation adapting to various terrains with grasping capability.

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基于kirigami启发的8R可配置平台的新型广义并联机器人综合

提出了一种利用Kirigami技术设计变形空间单环连杆的新方法。将所提出的kirigami启发的机构集成在一起，促进了可重构广义并联机器人（gpm）的发展。首先，将切点引入折痕图中，生成基里伽米折痕图。这种受kirigami启发的折痕图案获得了一种新颖的8R变质SSL。然后，利用约束螺杆法分析了奇异位置和不同运动轨迹下的机构参数配置，研究了该机构的运动特性。此外，本文还提出了一种利用所提出的SSL构造可重构gpm的创新方法。根据工作场景，将期望的相对运动集映射到实际的运动集。利用李群理论，可以得到分支机械发电机的排列。最后，本文重点介绍了基于可配置平台的GPM的潜在应用：具有抓握能力的各种地形的着陆操纵。

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