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Kinematic analysis of a single-loop reconfigurable 7R mechanism with multiple operation modes

Published online by Cambridge University Press:  22 January 2014

Xiuyun He ,
Xianwen Kong ,
Damien Chablat ,
Stéphane Caro  and
Guangbo Hao
Xiuyun He
Affiliation:
School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AS, UK
Xianwen Kong*
Affiliation:
School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AS, UK
Damien Chablat
Affiliation:
Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Université Nantes Angers Le Mans, Nantes, France
Stéphane Caro
Affiliation:
Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Université Nantes Angers Le Mans, Nantes, France
Guangbo Hao
Affiliation:
School of Engineering, University College Cork, Cork, Ireland
*
*Corresponding author. E-mail: X.Kong@hw.ac.uk
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Summary

This paper presents a novel one-degree-of-freedom (1-DOF) single-loop reconfigurable 7R mechanism with multiple operation modes (SLR7RMMOM), composed of seven revolute (R) joints, via adding a revolute joint to the overconstrained Sarrus linkage. The SLR7RMMOM can switch from one operation mode to another without disconnection and reassembly, and is a non-overconstrained mechanism. The algorithm for the inverse kinematics of the serial 6R mechanism using kinematic mapping is adopted to deal with the kinematic analysis of the SLR7RMMOM. First, a numerical method is applied and an example is given to show that there are 13 sets of solutions for the SLR7RMMOM, corresponding to each input angle. Among these solutions, nine sets are real solutions, which are verified using both a computer-aided design (CAD) model and a prototype of the mechanism. Then an algebraic approach is also used to analyse the mechanism and same results are obtained as the numerical one. It is shown from both numerical and algebraic approaches that the SLR7RMMOM has three operation modes: a translational mode and two 1-DOF planar modes. The transitional configurations among the three modes are also identified.

Keywords

Single-loop reconfigurable mechanismMultiple operation modesKinematic analysisNumerical methodAlgebraic approachTransitional configuration
Type
Articles
Information
Robotica , Volume 32 , Issue 7 , October 2014 , pp. 1171 - 1188
Copyright
Copyright © Cambridge University Press 2014 

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