1 Introduction
2 Design of rA Joint
3 Phase Analysis of Reconfigurable Limb
3.1 Structure Design of the Reconfigurable Limb
3.2 Constraint Analysis of the Reconfigurable Limb
3.2.1 Analysis of the Unconstrained Limb Phase
3.2.2 Constraints and Phase Change of the UPU limb
3.2.3 Constraints and Phase Change of the RPS Limb
3.2.4 Constraints and Phase Change of the RPR Limb
4 Constraint Analysis of 3(rA)P(rA)
4.1 Metamorphic Parallel Mechanism 3(rA)P(rA)
4.2 Mobility Analysis of 3 (rA)P(rA)
4.2.1 Reconfiguration to Mobility 6
4.2.2 Reconfiguration to Mobility 5
4.2.3 Reconfiguration to Mobility 4
4.2.4 Mobility Configuration of 3-DOF Translation
4.2.5 Mobility Configuration of 3-DOF Rotation
4.2.6 Reconfiguration to Mobility 2
4.2.7 Reconfiguration to Mobility 1
5 Physical Prototype and Configuration’s Enumeration of 3(rA)P(rA)
No. | Equivalent phase | Phase | DOF |
---|---|---|---|
1 | SPS | 1P1, 2P1, 2P2 | 6 |
2 | UPS | 3P1, 3P2, 4P1, 4P2, 5P1, 5P2 | 6, 5 |
3 | RPS | 6P1, 6P2 | 54 |
4 | UPU | 3P3, 3P4, 3P5, 4P4, 4P5, 5P5 | 5, 4 |
5 | UPR | 3P6, 4P6, 5P6 | 4 |
6 | RPR | 6P6 | 3 |
No. | Equivalent configuration | Configuration |
---|---|---|
1 | 3SPS | 3(1,2)P(1,2) |
2 | 3UPS | 3(3,4,5)P(1,2) |
3 | 3RPS | 3(6)P(1,2) |
4 | 3UPU | 3(3,4,5)P(3,4,5) |
5 | 3RPU | 3(6)P(3,4,5) |
6 | 3RPR | 3(6)P(6) |
7 | 2SPS-UPS | 2(1,2)P(1,2)-(3,4,5)P(1,2) |
8 | 2SPS-RPS | 2(1,2)P(1,2)-(6)P(1,2) |
9 | 2SPS-UPU | 2(1,2)P(1,2)-(3,4,5)P(3,4,5) |
10 | 2SPS-UPR | 2(1,2)P(1,2)-(3,4,5)P(6) |
11 | 2SPS-RPR | 2(1,2)P(1,2)-(6)P(6) |
12 | 2UPS-SPS | 2(3,4,5)P(1,2)-(1,2)P(1,2) |
13 | 2UPS-UPR | 2(3,4,5)P(1,2)-(3,4,5)P(1,2) |
14 | 2UPS-RPS | 2(3,4,5)P(1,2)-(6)P(1,2) |
15 | 2UPS-UPU | 2(3,4,5)P(1,2)-(3,4,5)P(3,4,5) |
16 | 2UPS-RPR | 2(3,4,5)P(1,2)-(6)P(6) |
17 | 2RPS-SPS | 2(6)P(1,2)-(1,2)P(1,2) |
18 | 2RPS-UPS | 2(6)P(3,4,5)-(3,4,5)P(1,2) |
19 | 2RPS-UPU | 2(6)P(1,2)-(3,4,5)P(3,4,5) |
20 | 2RPS-UPR | 2(6)P(1,2)-(3,4,5)P(6) |
21 | 2RPS-RPR | 2(6)P(1,2)-(6)P(6) |
22 | 2UPU-SPS | 2(3,4,5)P(3,4,5)-(1,2)P(1,2) |
23 | 2UPU-UPS | 2(3,4,5)P(3,4,5)-(3,4,5)P(1,2) |
24 | 2UPU-RPS | 2(3,4,5)P(3,4,5)-(6)P(1,2) |
25 | 2UPU-UPR | 2(3,4,5)P(3,4,5)-(3,4,5)P(6) |
26 | 2UPU-RPR | 2(3,4,5)P(3,4,5)-(6)P(6) |
27 | 2RPR-SPS | 2(6)P(6)-(1,2)P(1,2) |
28 | 2RPR-UPS | 2(6)P(6)-(3,4,5)P(1,2) |
29 | 2RPR-RPS | 2(6)P(6)-(6)P(1,2) |
30 | 2RPR-UPU | 2(6)P(6)-(3,4,5)P(3,4,5) |
31 | 2RPR-UPR | 2(6)P(6)-(3,4,5)P(6) |
32 | SPS-UPS-RPS | (1,2)P(1,2)-(3,4,5)P(1,2)-(6)P(1,2) |
33 | SPS-UPS-UPU | (1,2)P(1,2)-(3,4,5)P(1,2)-(3,4,5)P(3,4,5) |
34 | SPS-UPS-UPR | (1,2)P(1,2)-(3,4,5)P(1,2)-(3,4,5)P(6) |
35 | SPS-UPS-RPR | (1,2)P(1,2)-(3,4,5)P(1,2)-(6)P(6) |
36 | SPS-RPS-UPU | (1,2)P(1,2)-(6)P(1,2)-(3,4,5)P(3,4,5) |
37 | SPS-RPS-UPR | (1,2)P(1,2)-(6)P(1,2)-(3,4,5)P(6) |
38 | SPS-RPS-RPR | (1,2)P(1,2)-(6)P(1,2)-(6)P(6) |
39 | SPS-UPU-UPR | (1,2)P(1,2)-(3,4,5)P(3,4,5)-(3,4,5)P(6) |
40 | SPS-UPU-RPR | (1,2)P(1,2)-(3,4,5)P(3,4,5)-(6)P(6) |
41 | SPS-UPR-RPR | (1,2)P(1,2)-(3,4,5)P(6)-(6)P(6) |
42 | UPS-RPS-UPU | (3,4,5)P(1,2)-(6)P(1,2)-(3,4,5)P(3,4,5) |
43 | UPS-RPS-UPR | (3,4,5)P(1,2)-(6)P(1,2)-(3,4,5)P(6) |
44 | UPS-RPS-RPR | (3,4,5)P(1,2)-(6)P(1,2)-(6)P(6) |
45 | UPS-UPU-UPR | (3,4,5)P(1,2)-(3,4,5)P(3,4,5)-(3,4,5)P(6) |
46 | UPS-UPU-RPR | (3,4,5)P(1,2)-(3,4,5)P(3,4,5)-(6)P(6) |
47 | UPS-UPR-RPR | (3,4,5)P(1,2)-(3,4,5)P(6)-(6)P(6) |
48 | RPS-UPU-UPR | (6)P(1,2)-(3,4,5)P(3,4,5)-(3,4,5)P(6) |
49 | RPS-UPU-RPR | (6)P(1,2)-(3,4,5)P(3,4,5)-(6)P(6) |
50 | RPS-UPR-RPR | (6)P(1,2)-(3,4,5)P(6)-(6)P(6) |
51 | UPU-UPR-RPR | (3,4,5)P(3,4,5)-(3,4,5)P(6)-(6)P(6) |