WORKSPACE TRANSITION OF 3-RRPS METAMORPHIC PARALLEL MECHANISM IN HYPERBOLOID CONFIGURATION

被引：0

作者：

Nurahmi, Latifah ^{[1
]}

Gan, Dongming ^{[2
]}

机构：

[1] Inst Teknol Sepuluh Nopember, Dept Mech Engn, Kampus ITS Sukolilo, Surabaya 60111, Indonesia

[2] Khalifa Univ Sci & Technol, Dept Mech Engn, POB 127788, Abu Dhabi, U Arab Emirates

来源：

PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2018, VOL 5A | 2018年

关键词：

MOBILITY;

D O I：

暂无

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

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 degrees and 90 degrees. 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 phi. 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.

引用

页数：8