A 3-RRR Spherical Parallel Manipulator Reconfigured with Four-bar Linkages

Guanglei Wu; Huimin Dong; Delun Wang; Shaoping Bai

doi:10.1109/REMAR.2018.8449887

A 3-RRR Spherical Parallel Manipulator Reconfigured with Four-bar Linkages

Guanglei Wu, Huimin Dong, Delun Wang, Shaoping Bai

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

8 Citations (Scopus)

Abstract

In this paper, a reconfigurable parallel wrist manipulator, which is based on a coaxial actuated spherical mechanism with full-circle twist, is presented. The reconfiguration of the wrist is realized through a simple four-bar linkage in each independent limb to change one geometric parameter for variations of performances, which eases motion control. The workspace, dexterity and singularity of the wrist manipulator in different configurations are investigated, with consideration of the effect of an adjustable angular parameter on the manipulator performance. The relationship between the reconfigurable parameter and the manipulator performance turns out to be linear approximately. Since this parallel wrist manipulator can generate a full-circle twist movement, it can extend the applications of the wrist mechanisms. Moreover, this reconfigurable wrist manipulator can meet various task requirements due to its real-time performance enhancement.

Original language	English
Title of host publication	2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings
Editors	Just L. Herder, Volkert van der Wijk
Publisher	IEEE
Publication date	28 Aug 2018
ISBN (Print)	9781538663806
DOIs	https://doi.org/10.1109/REMAR.2018.8449887
Publication status	Published - 28 Aug 2018
Event	4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Delft, Netherlands Duration: 20 Jun 2018 → 22 Jun 2018

Conference

Conference	4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018
Country/Territory	Netherlands
City	Delft
Period	20/06/2018 → 22/06/2018

Keywords

dynamic reconfiguration
four-bar linkage
full-circle twist
Spherical parallel manipulator

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10.1109/REMAR.2018.8449887

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@inproceedings{8d0d81682a96487192857a4209aa6daa,

title = "A 3-RRR Spherical Parallel Manipulator Reconfigured with Four-bar Linkages",

abstract = "In this paper, a reconfigurable parallel wrist manipulator, which is based on a coaxial actuated spherical mechanism with full-circle twist, is presented. The reconfiguration of the wrist is realized through a simple four-bar linkage in each independent limb to change one geometric parameter for variations of performances, which eases motion control. The workspace, dexterity and singularity of the wrist manipulator in different configurations are investigated, with consideration of the effect of an adjustable angular parameter on the manipulator performance. The relationship between the reconfigurable parameter and the manipulator performance turns out to be linear approximately. Since this parallel wrist manipulator can generate a full-circle twist movement, it can extend the applications of the wrist mechanisms. Moreover, this reconfigurable wrist manipulator can meet various task requirements due to its real-time performance enhancement.",

keywords = "dynamic reconfiguration, four-bar linkage, full-circle twist, Spherical parallel manipulator",

author = "Guanglei Wu and Huimin Dong and Delun Wang and Shaoping Bai",

year = "2018",

month = aug,

day = "28",

doi = "10.1109/REMAR.2018.8449887",

language = "English",

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

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

publisher = "IEEE",

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",

}

Wu, G, Dong, H, Wang, D & Bai, S 2018, A 3-RRR Spherical Parallel Manipulator Reconfigured with Four-bar Linkages. in JL Herder & V van der Wijk (eds), 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings. IEEE, 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018, Delft, Netherlands, 20/06/2018. https://doi.org/10.1109/REMAR.2018.8449887

A 3-RRR Spherical Parallel Manipulator Reconfigured with Four-bar Linkages. / Wu, Guanglei; Dong, Huimin; Wang, Delun et al.
2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings. ed. / Just L. Herder; Volkert van der Wijk. IEEE, 2018.

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

T1 - A 3-RRR Spherical Parallel Manipulator Reconfigured with Four-bar Linkages

AU - Wu, Guanglei

AU - Dong, Huimin

AU - Wang, Delun

AU - Bai, Shaoping

PY - 2018/8/28

Y1 - 2018/8/28

N2 - In this paper, a reconfigurable parallel wrist manipulator, which is based on a coaxial actuated spherical mechanism with full-circle twist, is presented. The reconfiguration of the wrist is realized through a simple four-bar linkage in each independent limb to change one geometric parameter for variations of performances, which eases motion control. The workspace, dexterity and singularity of the wrist manipulator in different configurations are investigated, with consideration of the effect of an adjustable angular parameter on the manipulator performance. The relationship between the reconfigurable parameter and the manipulator performance turns out to be linear approximately. Since this parallel wrist manipulator can generate a full-circle twist movement, it can extend the applications of the wrist mechanisms. Moreover, this reconfigurable wrist manipulator can meet various task requirements due to its real-time performance enhancement.

AB - In this paper, a reconfigurable parallel wrist manipulator, which is based on a coaxial actuated spherical mechanism with full-circle twist, is presented. The reconfiguration of the wrist is realized through a simple four-bar linkage in each independent limb to change one geometric parameter for variations of performances, which eases motion control. The workspace, dexterity and singularity of the wrist manipulator in different configurations are investigated, with consideration of the effect of an adjustable angular parameter on the manipulator performance. The relationship between the reconfigurable parameter and the manipulator performance turns out to be linear approximately. Since this parallel wrist manipulator can generate a full-circle twist movement, it can extend the applications of the wrist mechanisms. Moreover, this reconfigurable wrist manipulator can meet various task requirements due to its real-time performance enhancement.

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KW - Spherical parallel manipulator

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M3 - Article in proceeding

AN - SCOPUS:85053864241

SN - 9781538663806

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

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ER -

A 3-RRR Spherical Parallel Manipulator Reconfigured with Four-bar Linkages

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