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    Design and Kinematic Analysis of a 3RRlS Metamorphic Parallel Mechanism for Large-Scale Reconfigurable Space Multifingered Hand

    Source: Journal of Mechanisms and Robotics:;2018:;volume( 010 ):;issue: 004::page 41012
    Author:
    Zhao, Chong
    ,
    Guo, Hongwei
    ,
    Liu, Rongqiang
    ,
    Deng, Zongquan
    ,
    Li, Bing
    DOI: 10.1115/1.4040356
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Capturing noncooperative targets in space has great prospects for aerospace application. In this work, the knuckle unit of a large-scale reconfigurable space multifingered hand (LSRSMFH) for multitask requirements is studied. A plurality of knuckle units is connected in series to form a finger of the LSRSMFH. First, the lockable spherical (lS) joint, a new metamorphic joint that can function as a Hooke (lS1) or spherical (lS2) joint and is driven by shape memory alloy (SMA) material, is proposed. Based on the lS joint, this paper presents a new metamorphic parallel mechanism (MPM) (i.e., 3RRlS MPM), which has four configurations, namely, 3RRlS1, 3RRlS2, 2RRlS1-RRlS2, and 2RRlS2-RRlS1 configuration. The degree-of-freedom (DOF), overconstraint, and parasitic motion of the 3RRlS MPM are analyzed using screw theory, of which the DOF can be changed from 1 to 3. The 3RRlS1 configuration has a virtual constraint, and the 3RRlS2 configuration has parasitic motions. The results indicate that the mechanism motion screws can qualitatively represent the mechanism parasitic motions, and it is verified by deriving the kinematic equation of the 3RRlS MPM based on its spatial geometric conditions, the workspace of the 3RRlS MPM is further solved. The kinematic analysis indicates that the 3RRlS MPM can realize the folding, capturing, and reconfiguring conditions of the LSRSMFH.
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      Design and Kinematic Analysis of a 3RRlS Metamorphic Parallel Mechanism for Large-Scale Reconfigurable Space Multifingered Hand

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4252430
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    contributor authorZhao, Chong
    contributor authorGuo, Hongwei
    contributor authorLiu, Rongqiang
    contributor authorDeng, Zongquan
    contributor authorLi, Bing
    date accessioned2019-02-28T11:04:41Z
    date available2019-02-28T11:04:41Z
    date copyright6/18/2018 12:00:00 AM
    date issued2018
    identifier issn1942-4302
    identifier otherjmr_010_04_041012.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4252430
    description abstractCapturing noncooperative targets in space has great prospects for aerospace application. In this work, the knuckle unit of a large-scale reconfigurable space multifingered hand (LSRSMFH) for multitask requirements is studied. A plurality of knuckle units is connected in series to form a finger of the LSRSMFH. First, the lockable spherical (lS) joint, a new metamorphic joint that can function as a Hooke (lS1) or spherical (lS2) joint and is driven by shape memory alloy (SMA) material, is proposed. Based on the lS joint, this paper presents a new metamorphic parallel mechanism (MPM) (i.e., 3RRlS MPM), which has four configurations, namely, 3RRlS1, 3RRlS2, 2RRlS1-RRlS2, and 2RRlS2-RRlS1 configuration. The degree-of-freedom (DOF), overconstraint, and parasitic motion of the 3RRlS MPM are analyzed using screw theory, of which the DOF can be changed from 1 to 3. The 3RRlS1 configuration has a virtual constraint, and the 3RRlS2 configuration has parasitic motions. The results indicate that the mechanism motion screws can qualitatively represent the mechanism parasitic motions, and it is verified by deriving the kinematic equation of the 3RRlS MPM based on its spatial geometric conditions, the workspace of the 3RRlS MPM is further solved. The kinematic analysis indicates that the 3RRlS MPM can realize the folding, capturing, and reconfiguring conditions of the LSRSMFH.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleDesign and Kinematic Analysis of a 3RRlS Metamorphic Parallel Mechanism for Large-Scale Reconfigurable Space Multifingered Hand
    typeJournal Paper
    journal volume10
    journal issue4
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4040356
    journal fristpage41012
    journal lastpage041012-12
    treeJournal of Mechanisms and Robotics:;2018:;volume( 010 ):;issue: 004
    contenttypeFulltext
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    yabeshDSpacePersian
     
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian