QrPara: A new reconfigurable parallel manipulator with 5-axis capability

Yan Jin; Binbin Lian; Mark Price; Tao Sun; Yimin Song

doi:10.1007/978-3-319-23327-7_22

QrPara: A new reconfigurable parallel manipulator with 5-axis capability

Yan Jin^*, Binbin Lian, Mark Price, Tao Sun, Yimin Song

^*Corresponding author for this work

School of Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

Reconfigurable parallel manipulators (RPMs) have attracted a lot of attention recently due to their great flexibility and cost effectiveness for agile applications. In this paper, a new RPM, named QrPara is proposed. QrPara has a tripod architecture with two lockable passive revolute joints in each leg. By alternatively locking different sets of lockable joints, QrPara can be utilized as both a positional or orientational parallel manipulator, equivalent to 5-axis capability. Mobility analysis, kinematic model and reconfiguration strategy are presented. The new RPM is suitable for many applications, such as machine tools and flexible fixtures.

Original language	English
Title of host publication	Advances in Reconfigurable Mechanisms and Robots II
Editors	Xilun Ding, Xianwen Kong, Jian S. Dai, Jian S. Dai
Publisher	Kluwer Academic Publishers
Pages	247-258
Number of pages	12
ISBN (Electronic)	9783319233277
ISBN (Print)	9783319233260
DOIs	https://doi.org/10.1007/978-3-319-23327-7_22
Publication status	Published - 2016
Event	Third ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015) - Beijing, China Duration: 20 Jul 2015 → 22 Jul 2015

Publication series

Name	Mechanisms and Machine Science
Volume	36
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	Third ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015)
Country/Territory	China
City	Beijing
Period	20/07/2015 → 22/07/2015

Bibliographical note

Publisher Copyright:
© Springer International Publishing Switzerland 2016.

Keywords

Parallel kinematic machine
Reconfigurability
Reconfigurable parallel manipulator

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering

Access to Document

10.1007/978-3-319-23327-7_22Licence: Unspecified

Cite this

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title = "QrPara: A new reconfigurable parallel manipulator with 5-axis capability",

abstract = "Reconfigurable parallel manipulators (RPMs) have attracted a lot of attention recently due to their great flexibility and cost effectiveness for agile applications. In this paper, a new RPM, named QrPara is proposed. QrPara has a tripod architecture with two lockable passive revolute joints in each leg. By alternatively locking different sets of lockable joints, QrPara can be utilized as both a positional or orientational parallel manipulator, equivalent to 5-axis capability. Mobility analysis, kinematic model and reconfiguration strategy are presented. The new RPM is suitable for many applications, such as machine tools and flexible fixtures.",

keywords = "Parallel kinematic machine, Reconfigurability, Reconfigurable parallel manipulator",

author = "Yan Jin and Binbin Lian and Mark Price and Tao Sun and Yimin Song",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2016.; Third ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015) ; Conference date: 20-07-2015 Through 22-07-2015",

year = "2016",

doi = "10.1007/978-3-319-23327-7_22",

language = "English",

isbn = "9783319233260",

series = "Mechanisms and Machine Science",

publisher = "Kluwer Academic Publishers",

pages = "247--258",

editor = "Xilun Ding and Xianwen Kong and Dai, {Jian S.} and Dai, {Jian S.}",

booktitle = "Advances in Reconfigurable Mechanisms and Robots II",

address = "Netherlands",

}

Jin, Y, Lian, B, Price, M, Sun, T & Song, Y 2016, QrPara: A new reconfigurable parallel manipulator with 5-axis capability. in X Ding, X Kong, JS Dai & JS Dai (eds), Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol. 36, Kluwer Academic Publishers, pp. 247-258, Third ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015), Beijing, China, 20/07/2015. https://doi.org/10.1007/978-3-319-23327-7_22

QrPara: A new reconfigurable parallel manipulator with 5-axis capability. / Jin, Yan; Lian, Binbin; Price, Mark et al.
Advances in Reconfigurable Mechanisms and Robots II. ed. / Xilun Ding; Xianwen Kong; Jian S. Dai; Jian S. Dai. Kluwer Academic Publishers, 2016. p. 247-258 (Mechanisms and Machine Science; Vol. 36).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - QrPara: A new reconfigurable parallel manipulator with 5-axis capability

AU - Jin, Yan

AU - Lian, Binbin

AU - Price, Mark

AU - Sun, Tao

AU - Song, Yimin

N1 - Publisher Copyright: © Springer International Publishing Switzerland 2016.

PY - 2016

Y1 - 2016

N2 - Reconfigurable parallel manipulators (RPMs) have attracted a lot of attention recently due to their great flexibility and cost effectiveness for agile applications. In this paper, a new RPM, named QrPara is proposed. QrPara has a tripod architecture with two lockable passive revolute joints in each leg. By alternatively locking different sets of lockable joints, QrPara can be utilized as both a positional or orientational parallel manipulator, equivalent to 5-axis capability. Mobility analysis, kinematic model and reconfiguration strategy are presented. The new RPM is suitable for many applications, such as machine tools and flexible fixtures.

AB - Reconfigurable parallel manipulators (RPMs) have attracted a lot of attention recently due to their great flexibility and cost effectiveness for agile applications. In this paper, a new RPM, named QrPara is proposed. QrPara has a tripod architecture with two lockable passive revolute joints in each leg. By alternatively locking different sets of lockable joints, QrPara can be utilized as both a positional or orientational parallel manipulator, equivalent to 5-axis capability. Mobility analysis, kinematic model and reconfiguration strategy are presented. The new RPM is suitable for many applications, such as machine tools and flexible fixtures.

KW - Parallel kinematic machine

KW - Reconfigurability

KW - Reconfigurable parallel manipulator

U2 - 10.1007/978-3-319-23327-7_22

DO - 10.1007/978-3-319-23327-7_22

M3 - Conference contribution

AN - SCOPUS:84948443134

SN - 9783319233260

T3 - Mechanisms and Machine Science

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BT - Advances in Reconfigurable Mechanisms and Robots II

A2 - Ding, Xilun

A2 - Kong, Xianwen

A2 - Dai, Jian S.

PB - Kluwer Academic Publishers

T2 - Third ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015)

Y2 - 20 July 2015 through 22 July 2015

ER -

QrPara: A new reconfigurable parallel manipulator with 5-axis capability

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this