Virtual and Physical Prototyping of Reconfigurable Parallel Mechanisms with Single Actuation
Source abstract
Abstract
The paper presents novel models of reconfigurable parallel mechanisms (RPMs) with a single active degree-of-freedom (1-DOF). The mechanisms contain three to six identical kinematic chains, which provide three (for the tripod) to zero (for the hexapod) uncontrollable DOFs. Screw theory is applied to carry out mobility analysis and proves the existence of controllable and uncontrollable DOFs of these mechanisms. Each kinematic chain in the synthesized mechanisms consists of planar and spatial parts. Such a design provides them with reconfiguration capabilities even when the driving link is fixed. This allows reproduction of diverse output trajectories without using additional actuators. In this paper, the model of a mechanism with six kinematic chains (hexapod) has been virtually and physically prototyped. The designing and assembling algorithms are developed using the detailed computer-aided design (CAD) model, which was further used to carry out kinetostatic analysis considering complex geometry of mechanism elements and friction among all contacting surfaces of joints. The developed virtual prototype and its calculation data have been further applied to fabricate mechanism elements and assemble an actuated full-scale physical prototype for future testing.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Mechanisms and Dynamics · Robot Manipulation and Learning · Soft Robotics and Applications
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia
LARM2: Laboratory of Robot Mechatronics, University of Rome “Tor Vergata”, 00133 Rome, Italy
References (36)
Show source-provided references
1. A comparative study of virtual prototyping and physical prototyping10.1504/IJMTM.2004.005931 ↗
2. Chen, L., Daly, M.C., Sabelhaus, A.P., Janse van Vuuren, L.A., Garnier, H.J., Verdugo, M.I., Tang, E., Spangenberg, C.U., Ghahani, F., and Agogino, A.M. (2017, January 6–9). Modular elastic lattice platform for rapid prototyping of tensegrity robots. Proceedings of the ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Volume 5B: 41st Mechanisms and Robotics Conference, Cleveland, OH, USA. V05BT08A026.10.1115/DETC2017-68264 ↗
3. 3D printing of soft robotic systems10.1038/s41578-018-0002-2 ↗
4. 3D printing for soft robotics—A review10.1080/14686996.2018.1431862 ↗
5. Voxelated soft matter via multimaterial multinozzle 3D printing10.1038/s41586-019-1736-8 ↗
6. Lapeyre, M., Rouanet, P., Grizou, J., Nguyen, S., Depraetre, F., Le Falher, A., and Oudeyer, P.-Y. (2014, January 17–19). Poppy Project: Open-Source fabrication of 3D printed humanoid robot for science, education and art. Proceedings of the Digital Intelligence, Nantes, France.
7. Chavdarov, I., Nikolov, V., Naydenov, B., and Boiadjiev, G. (2019, January 19–21). Design and control of an educational redundant 3D printed robot. Proceedings of the 2019 International Conference on Software, Telecommunications and Computer Networks (SoftCOM), Split, Croatia.10.23919/SOFTCOM.2019.8903825 ↗
8. Ficht, G., Farazi, H., Brandenburger, A., Rodriguez, D., Pavlichenko, D., Allgeuer, P., Hosseini, M., and Behnke, S. (2018, January 6–9). NimbRo-OP2X: Adult-sized open-source 3D printed humanoid robot. Proceedings of the 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China.10.1109/HUMANOIDS.2018.8625038 ↗
9. A 3-D printed redundant six-component force sensor with eight parallel limbs10.1016/j.sna.2016.05.041 ↗
10. Design and development of a 5R 2DOF parallel robot arm for handling paper pot seedlings in a vegetable transplanter10.1016/j.compag.2019.105014 ↗
11. A 3-D printed Ti-6Al-4V 3-DOF compliant parallel mechanism for high precision manipulation10.1109/TMECH.2017.2726692 ↗
12. Tursynbek, I., Niyetkaliye, A., and Shintemirov, A. (2019, January 22–26). Computation of unique kinematic solutions of a spherical parallel manipulator with coaxial input shafts. Proceedings of the 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), Vancouver, BC, Canada.10.1109/COASE.2019.8843090 ↗
13. Multi-objective optimization of a parallel manipulator for the design of a prosthetic arm using genetic algorithms
14. Saafi, H., Laribi, M.A., Arsicault, M., and Zeghloul, S. (2014, January 3–5). Optimal design of a new spherical parallel manipulator. Proceedings of the 2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), Smolenice, Slovakia.10.1109/RAAD.2014.7002253 ↗
15. Grosch, P., Di Gregorio, R., Lopez, J., and Thomas, F. (2010, January 3–7). Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints. Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, USA.10.1109/ROBOT.2010.5509305 ↗
16. Dede, M., İtik, M., Lovasz, E.C., and Kiper, G. (2018). Kinematic design of a tripod parallel mechanism for robotic legs. Mechanisms, Transmissions and Applications, Proceedings of the Fourth MeTrApp Conference 2017, Poitiers, France, 22–24 May 2017, Springer.
17. Lenarčič, J., and Roth, B. (2006). Parallel robots that change their group of motion. Advances in Robot Kinematics, Proceedings of the 10th International Symposium on Advances in Robot Kinematics, Ljubljana, Slovenia, 26–29 June 2006, Springer.
18. Kinematic modeling and optimization of a new reconfigurable parallel mechanism10.1016/j.mechmachtheory.2020.103850 ↗
19. P. Type synthesis of parallel mechanisms with multiple operation modes10.1115/1.2717228 ↗
20. Merlet, J.-P. (2006). Parallel Robots, Springer. [2nd ed.].
21. Ceccarelli, M. (2004). Fundamentals of Mechanics of Robotic Manipulation, Springer.10.1007/978-1-4020-2110-7 ↗
22. Kong, X., and Gosselin, C.M. (2007). Type Synthesis of Parallel Mechanisms, Springer.10.1115/DETC2006-99628 ↗
23. Reconfigurable workspace and torque capacity of a compliant ankle rehabilitation robot (CARR)10.1016/j.robot.2017.06.006 ↗
24. Enhancing the useful workspace of a reconfigurable parallel manipulator by grasp point optimization10.1016/j.rcim.2014.07.003 ↗
25. A class of reconfigurable parallel mechanisms with five-bar metamorphic linkage10.1177/0954406216628558 ↗
26. Design and analysis of a reconfigurable parallel mechanism for multidirectional additive manufacturing10.1016/j.mechmachtheory.2016.02.011 ↗
27. New family of RPR-equivalent parallel mechanisms: Design and application10.1007/s10033-017-0045-0 ↗
28. A new class of reconfigurable parallel kinematic machines10.1016/j.mechmachtheory.2014.04.011 ↗
29. Optimal design of reconfigurable parallel machining systems10.1016/j.rcim.2009.04.004 ↗
30. Huang, G., Zhang, D., Guo, S., and Qu, H. (2018). Design and optimization of a novel three-dimensional force sensor with parallel structure. Sensors, 18.10.3390/s18082416 ↗
31. Huang, Z., Li, Q., and Ding, H. (2013). Theory of Parallel Mechanisms, Springer.10.1007/978-94-007-4201-7 ↗
32. Sun, T., Yang, S., and Lian, B. (2020). Finite and Instantaneous Screw Theory in Robotic Mechanism, Springer.10.1007/978-981-15-1944-4 ↗
33. Strang, G. (2016). Introduction to Linear Algebra, Wellesley-Cambridge Press. [5th ed.].
34. A new assessment of singularities of parallel kinematic chains10.1109/TRO.2009.2020353 ↗
35. Venture, G., Solis, J., Takeda, Y., and Konno, A. (2021). Forward kinematic analysis of a rotary hexapod. ROMANSY 23-Robot Design, Dynamics and Control, Proceedings of the 23rd CISM IFToMM Symposium, Sapporo, Japan, 20–24 September 2020, Springer.10.1007/978-3-030-58380-4 ↗
36. Fomin, A., Antonov, A., Glazunov, V., and Carbone, G. (2021). Dimensional (parametric) synthesis of the hexapod-type parallel mechanism with reconfigurable design. Machines, 9.10.3390/machines9060117 ↗