TY - GEN
T1 - Dynamic analysis of the 3-RRPS metamorphic parallel mechanism based on instantaneous screw axis
AU - Nurahmi, Latifah
AU - Gan, Dongming
N1 - Publisher Copyright:
Copyright © 2019 ASME.
PY - 2019
Y1 - 2019
N2 - The 3-rRPS metamorphic parallel mechanism can change its configurations thanks to the reconfigurable (rR) joint. The analysis in this paper will focus on one specific configuration where the moving-platform is able to perform 2-dof coupled rotational motions and 1-dof translational motion, which is well-known as 1T2R motion. In this configuration, the mechanism has two types of operation modes, i.e. x0 = 0 and x3 = 0, which have been extensively studied by many researchers. However, the dynamic behaviours of the mechanism in those two operation modes have not been studied. Accordingly, this paper presents the dynamic analysis of the 3-rRPS metamorphic parallel mechanism in both operation modes based on the Instantaneous Screw Axis (ISA). The types of operation mode are initially characterized by means of Euler-Quaternion parameters. The time derivative of transformation matrix is performed in each operation mode and the ISA can be determined. By using the ISA, velocities and accelerations of all points on the moving-platform can be evaluated, which become the foundation of the dynamic analysis in this paper. This approach can be applied to parallel mechanisms having multiple operation modes of different mobility.
AB - The 3-rRPS metamorphic parallel mechanism can change its configurations thanks to the reconfigurable (rR) joint. The analysis in this paper will focus on one specific configuration where the moving-platform is able to perform 2-dof coupled rotational motions and 1-dof translational motion, which is well-known as 1T2R motion. In this configuration, the mechanism has two types of operation modes, i.e. x0 = 0 and x3 = 0, which have been extensively studied by many researchers. However, the dynamic behaviours of the mechanism in those two operation modes have not been studied. Accordingly, this paper presents the dynamic analysis of the 3-rRPS metamorphic parallel mechanism in both operation modes based on the Instantaneous Screw Axis (ISA). The types of operation mode are initially characterized by means of Euler-Quaternion parameters. The time derivative of transformation matrix is performed in each operation mode and the ISA can be determined. By using the ISA, velocities and accelerations of all points on the moving-platform can be evaluated, which become the foundation of the dynamic analysis in this paper. This approach can be applied to parallel mechanisms having multiple operation modes of different mobility.
UR - http://www.scopus.com/inward/record.url?scp=85076453893&partnerID=8YFLogxK
U2 - 10.1115/DETC2019-97851
DO - 10.1115/DETC2019-97851
M3 - Conference contribution
AN - SCOPUS:85076453893
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 43rd Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019
Y2 - 18 August 2019 through 21 August 2019
ER -