Design and singularity analysis of a parallel mechanism with origami-inspired reconfigurable 5R closed-loop linkages

IF 1.9 4区计算机科学 Q3 ROBOTICS Robotica Pub Date : 2024-04-19 DOI:10.1017/s0263574724000560

Yili Kuang, Haibo Qu, Xiao Li, Xiaolei Wang, Sheng Guo

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Abstract

The reconfigurable mechanisms can satisfy the requirements of changing environments, working conditions, and tasks on the function and performance of the mechanism and can be applied to machine tool manufacturing, space detection, etc. Inspired by the single-vertex fivefold origami pattern, a new reconfigurable parallel mechanism is proposed in this paper, which has special singular positions and stable motion due to replicating the stabilizing kinematic properties of origami. Through analyzing the topologic change of the folding process of the pattern and treating it as a reconfigurable joint, a new reconfigurable parallel mechanism with 3, 4, 5, or 6 degrees of freedom is obtained. Then, the kinematics solution, workspace, and singularity of the mechanism are calculated. The results indicate that the singular configuration of the origami-derived reconfigurable parallel mechanism is mainly located in a special plane, and the scope of the workspace is still large after the configuration change. The mechanism has the potential to adapt to multiple tasks and working conditions through the conversion among different configurations by folding reconfigurable joints on the branch chain.

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受折纸启发的可重构 5R 闭环连杆并联机构的设计与奇异性分析

可重构机构可以满足不断变化的环境、工作条件和任务对机构功能和性能的要求，可应用于机床制造、空间探测等领域。受单顶点五折折纸图案的启发，本文提出了一种新的可重构并联机构，由于复制了折纸的稳定运动特性，该机构具有特殊的奇异位置和稳定的运动。通过分析图案折叠过程中的拓扑变化，并将其视为可重构的关节，得到了具有 3、4、5 或 6 个自由度的新型可重构并联机构。然后，计算了该机构的运动学解、工作空间和奇异性。结果表明，折纸衍生的可重构并联机构的奇异构型主要位于一个特殊平面内，构型改变后的工作空间范围仍然很大。通过折叠支链上的可重构关节实现不同构型之间的转换，该机构具有适应多种任务和工作条件的潜力。

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来源期刊

Robotica 工程技术-机器人学

CiteScore

4.50

自引率

22.20%

发文量

181

审稿时长

9.9 months

期刊介绍： Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.