Design and Workspace Analysis of Reconfigurable 3-RPRP Spherical Parallel Mechanisms

Ruiqin Li; Jianwen Zhao; Dabao Fan; Shijie Liang; Shengtao Song; Shaoping Bai

doi:10.1109/REMAR.2018.8449856

Design and Workspace Analysis of Reconfigurable 3-RPRP Spherical Parallel Mechanisms

Ruiqin Li, Jianwen Zhao, Dabao Fan, Shijie Liang, Shengtao Song, Shaoping Bai

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

2 Citationer (Scopus)

Abstract

A reconfigurable 3-RPRP spherical parallel mechanism (SPM) is presented, based on two kinds of prototype mechanisms, i.e., 3-RPR and 3-RRP SPMs. The conversion among different configurations is achieved by locking some of the kinematic pairs. According to the permutations and combinations of the number and position of the kinematic pairs locked, 10 kinds of kinematic limbs with different degrees of freedom and configurations can be reconstructed without disassembly. In the paper, the design of the reconfigurable 3-RPRP SPM is described. Kinematics model of the SPM is established, which is applicable for all configurations. A three-dimensional (3D) search method to find the reachable workspace of a reconfigurable SPM is presented.

Originalsprog	Engelsk
Titel	2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings
Redaktører	Just L. Herder, Volkert van der Wijk
Forlag	IEEE (Institute of Electrical and Electronics Engineers)
Publikationsdato	28 aug. 2018
Artikelnummer	8449856
ISBN (Trykt)	9781538663806
DOI	https://doi.org/10.1109/REMAR.2018.8449856
Status	Udgivet - 28 aug. 2018
Begivenhed	4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Delft, Holland Varighed: 20 jun. 2018 → 22 jun. 2018

Konference

Konference	4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018
Land/Område	Holland
By	Delft
Periode	20/06/2018 → 22/06/2018

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10.1109/REMAR.2018.8449856

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Citationsformater

Li, R., Zhao, J., Fan, D., Liang, S., Song, S., & Bai, S. (2018). Design and Workspace Analysis of Reconfigurable 3-RPRP Spherical Parallel Mechanisms. I J. L. Herder, & V. van der Wijk (red.), 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings Artikel 8449856 IEEE (Institute of Electrical and Electronics Engineers). https://doi.org/10.1109/REMAR.2018.8449856

@inproceedings{d57aa008d96d483ca391393491ef9afb,

title = "Design and Workspace Analysis of Reconfigurable 3-RPRP Spherical Parallel Mechanisms",

abstract = "A reconfigurable 3-RPRP spherical parallel mechanism (SPM) is presented, based on two kinds of prototype mechanisms, i.e., 3-RPR and 3-RRP SPMs. The conversion among different configurations is achieved by locking some of the kinematic pairs. According to the permutations and combinations of the number and position of the kinematic pairs locked, 10 kinds of kinematic limbs with different degrees of freedom and configurations can be reconstructed without disassembly. In the paper, the design of the reconfigurable 3-RPRP SPM is described. Kinematics model of the SPM is established, which is applicable for all configurations. A three-dimensional (3D) search method to find the reachable workspace of a reconfigurable SPM is presented.",

keywords = "3-RPRP, 3D search method, reconfiguration, spherical parallel mechanism (SPM), workspace",

author = "Ruiqin Li and Jianwen Zhao and Dabao Fan and Shijie Liang and Shengtao Song and Shaoping Bai",

year = "2018",

month = aug,

day = "28",

doi = "10.1109/REMAR.2018.8449856",

language = "English",

isbn = "9781538663806",

editor = "Herder, {Just L.} and {van der Wijk}, Volkert",

booktitle = "2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings",

publisher = "IEEE (Institute of Electrical and Electronics Engineers)",

address = "United States",

note = "4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 ; Conference date: 20-06-2018 Through 22-06-2018",

}

Li, R, Zhao, J, Fan, D, Liang, S, Song, S & Bai, S 2018, Design and Workspace Analysis of Reconfigurable 3-RPRP Spherical Parallel Mechanisms. i JL Herder & V van der Wijk (red), 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings., 8449856, IEEE (Institute of Electrical and Electronics Engineers), 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018, Delft, Holland, 20/06/2018. https://doi.org/10.1109/REMAR.2018.8449856

Design and Workspace Analysis of Reconfigurable 3-RPRP Spherical Parallel Mechanisms. / Li, Ruiqin; Zhao, Jianwen; Fan, Dabao et al.
2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings. red. / Just L. Herder; Volkert van der Wijk. IEEE (Institute of Electrical and Electronics Engineers), 2018. 8449856.

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

TY - GEN

T1 - Design and Workspace Analysis of Reconfigurable 3-RPRP Spherical Parallel Mechanisms

AU - Li, Ruiqin

AU - Zhao, Jianwen

AU - Fan, Dabao

AU - Liang, Shijie

AU - Song, Shengtao

AU - Bai, Shaoping

PY - 2018/8/28

Y1 - 2018/8/28

N2 - A reconfigurable 3-RPRP spherical parallel mechanism (SPM) is presented, based on two kinds of prototype mechanisms, i.e., 3-RPR and 3-RRP SPMs. The conversion among different configurations is achieved by locking some of the kinematic pairs. According to the permutations and combinations of the number and position of the kinematic pairs locked, 10 kinds of kinematic limbs with different degrees of freedom and configurations can be reconstructed without disassembly. In the paper, the design of the reconfigurable 3-RPRP SPM is described. Kinematics model of the SPM is established, which is applicable for all configurations. A three-dimensional (3D) search method to find the reachable workspace of a reconfigurable SPM is presented.

AB - A reconfigurable 3-RPRP spherical parallel mechanism (SPM) is presented, based on two kinds of prototype mechanisms, i.e., 3-RPR and 3-RRP SPMs. The conversion among different configurations is achieved by locking some of the kinematic pairs. According to the permutations and combinations of the number and position of the kinematic pairs locked, 10 kinds of kinematic limbs with different degrees of freedom and configurations can be reconstructed without disassembly. In the paper, the design of the reconfigurable 3-RPRP SPM is described. Kinematics model of the SPM is established, which is applicable for all configurations. A three-dimensional (3D) search method to find the reachable workspace of a reconfigurable SPM is presented.

KW - 3-RPRP

KW - 3D search method

KW - reconfiguration

KW - spherical parallel mechanism (SPM)

KW - workspace

UR - http://www.scopus.com/inward/record.url?scp=85053880313&partnerID=8YFLogxK

U2 - 10.1109/REMAR.2018.8449856

DO - 10.1109/REMAR.2018.8449856

M3 - Article in proceeding

AN - SCOPUS:85053880313

SN - 9781538663806

BT - 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings

A2 - Herder, Just L.

A2 - van der Wijk, Volkert

PB - IEEE (Institute of Electrical and Electronics Engineers)

T2 - 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018

Y2 - 20 June 2018 through 22 June 2018

ER -

Design and Workspace Analysis of Reconfigurable 3-RPRP Spherical Parallel Mechanisms

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