Lie Group Based Type Synthesis Using Transformation Configuration Space for Reconfigurable Parallel Mechanisms With Bifurcation Between Spherical Motion and Planar Motion
Lie Group Based Type Synthesis Using Transformation Configuration Space for Reconfigurable Parallel Mechanisms With Bifurcation Between Spherical Motion and Planar Motion
复制标题
基于李群的类型综合，使用变换配置空间用于球面运动和平面运动之间分叉的可重构并联机构
DOI：
10.1115/1.4045042
复制
发表时间：
2020-06-01
影响因子：
3.3
通讯作者：
Dai, Jian S.
中科院分区：
文献类型：
--
作者：
Wei, Jun;Dai, Jian S.
基于变换构形空间，研究了平面子群SE(2)和旋转子群SO(3)之间具有分叉的新型可重构并联机构。在回顾了与构造子流形和运动学联系相关的必要的理论基础后，研究了可重构并联机构平台的运动表示。针对李子群或子流形的交点为单位元或非单位元的情况，提出了具有运动分支的可重构并联机构的变换位形空间。讨论了变换构形空间的切换条件，为实现运动分支的切换奠定了理论基础。针对SE(2)并联机构运动发生器和SO(3)并联机构运动发生器之间的共同运动，进一步研究了可重构并联机构的切换原理。在这一原则下，综合了具有公共运动生成器的子链，并将其分为两类生成器。第一种类型的生成器生成具有三个关节轴的公共交点的运动链，第二种类型的生成器生成两个关节轴的公共交点。在此基础上，综合了两类具有三个相同子链的可重构并联机构，得到了11种平台经过奇异位形空间后可在SE(2)和SO(3)之间切换的机构。
This paper investigates novel reconfigurable parallel mechanisms with bifurcation between planar subgroup SE(2) and rotation subgroup SO(3) based on a transformation configuration space. Having recollected necessary theoretical fundamentals with regard to compositional submanifolds and kinematic bonds, the motion representation of the platform of reconfigurable parallel mechanisms are investigated. The transformation configuration space of a reconfigurable parallel mechanism with motion branches is proposed with respect to the fact that the intersection of Lie subgroups or submanifolds is the identity element or a non-identity element. The switch conditions of the transformation configuration space are discussed, leading to establishment of a theoretical foundation for realizing a switch of motion branches. The switch principle of reconfigurable parallel mechanisms is further investigated with respect to the common motion between SE(2) parallel-mechanism motion generators and SO(3) parallel-mechanism motion generators. Under this principle, the subchains with common motion generators are synthesized and divided into two types of generators. The first type of generators generates kinematic chains with a common intersection of three joint axes, and the second type of generators generates a common intersection of two joint axes. Following this, two types of reconfigurable parallel mechanisms with three identical subchains are synthesized, resulting in 11 varieties in which platforms can be switched between SE(2) and SO(3) after passing through the singularity configuration space.