TY - GEN
T1 - Workspace transition of 3-RRPS metamorphic parallel mechanism in hyperboloid configuration
AU - Nurahmi, Latifah
AU - Gan, Dongming
N1 - Publisher Copyright:
Copyright © 2018 ASME.
PY - 2018
Y1 - 2018
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85057008810&partnerID=8YFLogxK
U2 - 10.1115/DETC201886356
DO - 10.1115/DETC201886356
M3 - Conference contribution
AN - SCOPUS:85057008810
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 42nd Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018
Y2 - 26 August 2018 through 29 August 2018
ER -