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- W3008779611 abstract "This paper investigates a new reconfigurable parallel mechanism consisting of three SvPS kinematic limbs. Induced by phase changes of a metamorphic spherical variable-axis joint (Sv), the SvPS limb is capable of changing to two typical configurations, of which one exerts no constraint and the other exerts a constraint force to the moving platform. Reconfiguration of the three limbs enables the 3-SvPS parallel mechanism to have four distinct configurations with degrees of freedom (DOFs) varying from 3 to 6. Analytical model of position and workspace analysis of the reconfigurable parallel mechanism are first investigated. In terms of the screw theory, a unified Jacobian matrix covering all the mobility configurations is established and utilized for analyzing singularity of the parallel mechanism in different configurations. Further, performance analysis and optimization are explored using the motion/force transmission method. The 3-SvPS parallel mechanism can be used as structure of reconfigurable robotic machine center with adaptability to changing task requirements." @default.
- W3008779611 created "2020-03-06" @default.
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- W3008779611 date "2020-07-01" @default.
- W3008779611 modified "2023-10-17" @default.
- W3008779611 title "Kinematic modeling and optimization of a new reconfigurable parallel mechanism" @default.
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- W3008779611 doi "https://doi.org/10.1016/j.mechmachtheory.2020.103850" @default.
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