Workspace transition of 3-RRPS metamorphic parallel mechanism in hyperboloid configuration

Latifah Nurahmi*, Dongming Gan

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)

Abstract

This paper deals with the workspace transition of the 3-rRPS metamorphic parallel mechanism in Hyperboloid configuration. The 3-rRPS metamorphic parallel mechanism is composed of three rRPS legs in which rR joint is reconfigurable. The reconfigurable rR joint allows the moving platform to switch into different Hyperboloid configurations. Two reconfiguration strategies of the mechanism are discussed. In Hyperboloid configurations, the three revolute joint axes are skew and are not parallel to the same plane. These axes can be set with any value within 0 and 90. By using algebraic geometry approach and Euler parametrization, the workspace of the mechanism is characterized. This workspace is defined as point reachable workspace of any point on the moving platform. The shape of the workspace changes depending on the value of joint parameter angle φ . The primary decomposition is computed and it reveals that the 3-rRPS metamorphic parallel mechanism in Hyperboloid configurations can perform 3-do f coupled motions in which the translational motions are completely dependent on the rotational motions.

Original languageEnglish
Title of host publication42nd Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791851807
DOIs
Publication statusPublished - 2018
EventASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018 - Quebec City, Canada
Duration: 26 Aug 201829 Aug 2018

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5A-2018

Conference

ConferenceASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018
Country/TerritoryCanada
CityQuebec City
Period26/08/1829/08/18

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