Parallel mechanisms(PMs)are known for their precision,stiffness,and load‐carrying capacity.However,the rigidity of their end‐effectors limits adaptability in tasks involving multi‐point interaction or the manipulat...Parallel mechanisms(PMs)are known for their precision,stiffness,and load‐carrying capacity.However,the rigidity of their end‐effectors limits adaptability in tasks involving multi‐point interaction or the manipulation of irregular objects.To resolve this challenge,parallel mechanisms with configurable platforms(PMCPs)have been developed,utilizing configurable kinematic chains to replace rigid end‐effectors,allowing for adjustments in shape and contact points.This paper comprehensively explores the characteristics of PMCPs,emphasizing the analysis of motion pattern,design methodology,kinematic performance,and a wide range of applications.PMCPs are categorized into groups based on specific criteria,followed by methodologies for analyzing mobility,reconfiguration,workspace,and singularity.Additionally,significant applications spanning several robotic fields are enumerated to highlight the potential of PMCPs.Furthermore,despite PMCPs providing considerable advantages in task adaptability,challenges remain in systematic type synthesis,motion description,and kinematic and dynamic complexity.This paper consolidates advancements in PMCPs to guide researchers toward next‐generation parallel robotic systems.展开更多
Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism.This type of gripper mechanism can be applied to grasp large or heavy objects in diff...Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism.This type of gripper mechanism can be applied to grasp large or heavy objects in different environments that are dangerous and complex for humans.This study proposes a family of novel(5+1)degrees of freedom(three translations and two rotations plus an additional grasping motion)gripper mechanisms based on the generalized parallel mechanisms with a configurable moving platform.First,the configurable moving platform,which is a closed loop,is designed for grasping manipulation.The hybrid topological arrangement is determined to improve the stiffness of the manipulator and realize high load-to-weight ratios.A sufficient rule based on Lie group theory is proposed to synthesize the mechanism.TTie hybrid limb structure is also enumerated.A family of novel gripper mechanisms can be assembled through the hybrid limbs by satisfying the rule.Two examples of the gripper mechanisms with and without parallelogram pairs are shown in this study.A kinematic analysis of the example mechanism is presented.The workspace shows that the mechanism possesses high rotational capability.In addition,a stiffiiess analysis is performed.展开更多
基金founded by the National Nature Science Foundation of China(Grant 52305012)the Research Institute for Artificial Intelligence of Things(RIAIoT),Research Institute for Intelligent Wearable Systems(RI‐IWEAR),Research Institute for Advanced Manufacturing(RIAM),and Research Centre of Textiles for Future Fashion(RCTFF)at the Hong Kong Polytechnic University.
文摘Parallel mechanisms(PMs)are known for their precision,stiffness,and load‐carrying capacity.However,the rigidity of their end‐effectors limits adaptability in tasks involving multi‐point interaction or the manipulation of irregular objects.To resolve this challenge,parallel mechanisms with configurable platforms(PMCPs)have been developed,utilizing configurable kinematic chains to replace rigid end‐effectors,allowing for adjustments in shape and contact points.This paper comprehensively explores the characteristics of PMCPs,emphasizing the analysis of motion pattern,design methodology,kinematic performance,and a wide range of applications.PMCPs are categorized into groups based on specific criteria,followed by methodologies for analyzing mobility,reconfiguration,workspace,and singularity.Additionally,significant applications spanning several robotic fields are enumerated to highlight the potential of PMCPs.Furthermore,despite PMCPs providing considerable advantages in task adaptability,challenges remain in systematic type synthesis,motion description,and kinematic and dynamic complexity.This paper consolidates advancements in PMCPs to guide researchers toward next‐generation parallel robotic systems.
基金This research work was supported by the Fundamental Research Funds for the Central Universities,China(Grant No.2020YJS153)the National Natural Science Foundation of China(Grant No.51975039).
文摘Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism.This type of gripper mechanism can be applied to grasp large or heavy objects in different environments that are dangerous and complex for humans.This study proposes a family of novel(5+1)degrees of freedom(three translations and two rotations plus an additional grasping motion)gripper mechanisms based on the generalized parallel mechanisms with a configurable moving platform.First,the configurable moving platform,which is a closed loop,is designed for grasping manipulation.The hybrid topological arrangement is determined to improve the stiffness of the manipulator and realize high load-to-weight ratios.A sufficient rule based on Lie group theory is proposed to synthesize the mechanism.TTie hybrid limb structure is also enumerated.A family of novel gripper mechanisms can be assembled through the hybrid limbs by satisfying the rule.Two examples of the gripper mechanisms with and without parallelogram pairs are shown in this study.A kinematic analysis of the example mechanism is presented.The workspace shows that the mechanism possesses high rotational capability.In addition,a stiffiiess analysis is performed.
