TY - GEN
T1 - Operation Mode and Workspace of a 3-rRPS Metamorphic Parallel Mechanism with a Reconfigurable Revolute Joint
AU - Nurahmi, Latifah
AU - Gan, Dongming
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/28
Y1 - 2018/8/28
N2 - The 3-rRPS metamorphic parallel mechanism discussed in this paper consists of three rRPS legs in which (rR) joint is reconfigurable. The reconfigurable (rR) joint allows the moving platform to perform different operation modes. Therefore, this paper deals with the characterization of operation mode and workspace of the 3-rRPS metamorphic parallel mechanism by using algebraic geometry approach and Euler parametrization. Two distinct configurations of the mechanism are initially defined based on the value of joint angle parameters, i.e. φ and θ. The set of constraint equations is derived and the primary decomposition is computed. It reveals that the 3-rRPS metamorphic parallel mechanism with certain configuration can have one up to two operation modes. The moving platform can also perform 3-dof coupled rotational motions, 3-do f planar motion and 1T2R motion. All operation modes under different configurations are analysed and geometrically interpreted. When the mechanism is in 3-dof coupled rotational motions, the workspace of the geometric center of the moving platform is bounded by a Steiner surface. The shape of this surface changes depending on the value of joint parameter angle φ.
AB - The 3-rRPS metamorphic parallel mechanism discussed in this paper consists of three rRPS legs in which (rR) joint is reconfigurable. The reconfigurable (rR) joint allows the moving platform to perform different operation modes. Therefore, this paper deals with the characterization of operation mode and workspace of the 3-rRPS metamorphic parallel mechanism by using algebraic geometry approach and Euler parametrization. Two distinct configurations of the mechanism are initially defined based on the value of joint angle parameters, i.e. φ and θ. The set of constraint equations is derived and the primary decomposition is computed. It reveals that the 3-rRPS metamorphic parallel mechanism with certain configuration can have one up to two operation modes. The moving platform can also perform 3-dof coupled rotational motions, 3-do f planar motion and 1T2R motion. All operation modes under different configurations are analysed and geometrically interpreted. When the mechanism is in 3-dof coupled rotational motions, the workspace of the geometric center of the moving platform is bounded by a Steiner surface. The shape of this surface changes depending on the value of joint parameter angle φ.
UR - http://www.scopus.com/inward/record.url?scp=85053929696&partnerID=8YFLogxK
U2 - 10.1109/REMAR.2018.8449879
DO - 10.1109/REMAR.2018.8449879
M3 - Conference contribution
AN - SCOPUS:85053929696
SN - 9781538663806
T3 - 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings
BT - 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings
A2 - Herder, Just L.
A2 - van der Wijk, Volkert
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018
Y2 - 20 June 2018 through 22 June 2018
ER -