Reconfigurable Generalized Parallel Mechanisms with Kinematotropic Linkages

摘要

This paper presents a novel idea of designing reconfigurable generalized parallel mechanisms (GPMs) by integrating kinematotropic linkages with coupling sub-chains (CSs) or configurable platforms (CPs). This leads to two brand-new ways of constructing reconfigurable mechanisms. By assembling the kinematotropic linkages into CSs, the planar/spherical reconfigurable GPMs with CSs can be derived. By substituting the rigid end-effector with kinematotropic linkages, a new family of reconfigurable GPMs with CPs can be obtained. The variation of the CSs or CPs ends up in the reconfiguration of the resulting mechanisms. The kinematic constraints of the platforms are analyzed based on the Lie group theory. Consequently, these derived reconfigurable mechanisms can output more than one motion patterns related to various operating phases of the kinematotropic linkages. Finally, a dual-functioning system for landing gear and aerial manipulation is developed.