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

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

2 Citations (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.

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
Article number	8449856
ISBN (Print)	9781538663806
DOIs	https://doi.org/10.1109/REMAR.2018.8449856
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

3-RPRP
3D search method
reconfiguration
spherical parallel mechanism (SPM)
workspace

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10.1109/REMAR.2018.8449856

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@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",

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. in JL Herder & V van der Wijk (eds), 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings., 8449856, IEEE, 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018, Delft, Netherlands, 20/06/2018. https://doi.org/10.1109/REMAR.2018.8449856

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. ed. / Just L. Herder; Volkert van der Wijk. IEEE, 2018. 8449856.

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

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DO - 10.1109/REMAR.2018.8449856

M3 - Article in proceeding

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SN - 9781538663806

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

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PB - IEEE

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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