A New Reconfigurable Parallel Mechanism for Large Scale Assembly

Harry Anderson, Yanqin Zhao, Yan Jin, Colm Higgins

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

New flexible equipment is in urgent needs for the aerospace industry in order to improve machining/assembly efficiency and accuracy. In this paper, a new lockable spherical joint is proposed, which can be used as a revolute joint, a universal joint and a common spherical joint. Based on the proposed locka-ble spherical joint, a new reconfigurable parallel mechanism (RPM) with large workspace is designed. The RPM has a tripod architecture with lockable joints, and it can be changed to three types of parallel kinematic machines in four motion modes. Mobility analysis based on the screw theory is presented. The new RPM is suitable for many applications, such as machine tools and flexible fixtures.
Original languageEnglish
Title of host publicationThe 5th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots
Number of pages10
Publication statusAccepted - 12 Aug 2021
EventThe 5th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots - Toronto, Toronto, Canada
Duration: 12 Aug 202114 Aug 2021

Conference

ConferenceThe 5th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots
Abbreviated titleReMAR2021
Country/TerritoryCanada
CityToronto
Period12/08/202114/08/2021

Keywords

  • Reconfigurable
  • Parallel Mechanism
  • Large scale manufacture

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