Reconfigurable Generalized Parallel Mechanisms with Kinematotropic Linkages
作者： Dan Zhang , Hongyan Tang , Chunxu Tian , Jian Liu
DOI: 10.1109/ICMRE51691.2021.9384812
关键词:
摘要: This paper presents a novel idea of designing reconfigurable generalized parallel mechanisms (GPMs) by integrating kinematotropic linkages with coupling sub-chains (CSs) or configurable platforms (CPs). leads to two brand-new ways constructing mechanisms. By assembling the into CSs, planar/spherical GPMs CSs can be derived. substituting rigid end-effector linkages, new family CPs obtained. The variation ends up in reconfiguration resulting kinematic constraints are analyzed based on Lie group theory. Consequently, these derived output more than one motion patterns related various operating phases linkages. Finally, dual-functioning system for landing gear and aerial manipulation is developed.
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