Hostname: page-component-5db58dd55d-qmkzp Total loading time: 0 Render date: 2026-06-04T02:08:30.871Z Has data issue: false hasContentIssue false
  • English
  • Français

Design and singularity analysis of a parallel mechanism with origami-inspired reconfigurable 5R closed-loop linkages

Published online by Cambridge University Press:  19 April 2024

Yili Kuang Open the ORCID record for Yili Kuang [Opens in a new window] ,
Haibo Qu Open the ORCID record for Haibo Qu [Opens in a new window] ,
Xiao Li Open the ORCID record for Xiao Li [Opens in a new window] ,
Xiaolei Wang Open the ORCID record for Xiaolei Wang [Opens in a new window]  and
Sheng Guo
Yili Kuang
Affiliation:
Robotics Research Center, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China Research Center of Robotics Technology and Equipment, Tangshan Research Institute, Beijing Jiaotong University, Tangshan, China
Haibo Qu*
Affiliation:
Robotics Research Center, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China Research Center of Robotics Technology and Equipment, Tangshan Research Institute, Beijing Jiaotong University, Tangshan, China Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology, Ministry of Education, Beijing Jiaotong University, Beijing, China
Xiao Li
Affiliation:
Robotics Research Center, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China Research Center of Robotics Technology and Equipment, Tangshan Research Institute, Beijing Jiaotong University, Tangshan, China
Xiaolei Wang
Affiliation:
Robotics Research Center, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China Research Center of Robotics Technology and Equipment, Tangshan Research Institute, Beijing Jiaotong University, Tangshan, China
Sheng Guo
Affiliation:
Robotics Research Center, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China Research Center of Robotics Technology and Equipment, Tangshan Research Institute, Beijing Jiaotong University, Tangshan, China Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology, Ministry of Education, Beijing Jiaotong University, Beijing, China
*
Corresponding author: Haibo Qu; Email: hbqu@bjtu.edu.cn
Get access Rights & Permissions [Opens in a new window]

Abstract

The reconfigurable mechanisms can satisfy the requirements of changing environments, working conditions, and tasks on the function and performance of the mechanism and can be applied to machine tool manufacturing, space detection, etc. Inspired by the single-vertex fivefold origami pattern, a new reconfigurable parallel mechanism is proposed in this paper, which has special singular positions and stable motion due to replicating the stabilizing kinematic properties of origami. Through analyzing the topologic change of the folding process of the pattern and treating it as a reconfigurable joint, a new reconfigurable parallel mechanism with 3, 4, 5, or 6 degrees of freedom is obtained. Then, the kinematics solution, workspace, and singularity of the mechanism are calculated. The results indicate that the singular configuration of the origami-derived reconfigurable parallel mechanism is mainly located in a special plane, and the scope of the workspace is still large after the configuration change. The mechanism has the potential to adapt to multiple tasks and working conditions through the conversion among different configurations by folding reconfigurable joints on the branch chain.

Keywords

single-vertex origamireconfigurable parallel mechanismconfiguration changevariable workspacesingularity analysis

Information

Type
Research Article
Information
Robotica , Volume 42 , Issue 6 , June 2024 , pp. 1861 - 1884
Copyright
© The Author(s), 2024. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

Liu, H., Huang, T., Mei, J., Zhao, X., Chetwynd, D. G., Li, M. and Jack Hu, S., “Kinematic design of a 5-DOF hybrid robot with large workspace/limb-stroke ratio,” J Mech Design 129(5), 530–537 (2007).CrossRefGoogle Scholar
Schenker, P. S., Pirjanian, P., Balaram, J., Ali, K. S., Trebi-Ollennu, A., Huntsberger, T. L., Aghazarian, H., Kennedy, B. A., Baumgartner, E. T., Iagnemma, K. D., Rzepniewski, A., Dubowsky, S., Leger, P. C., Apostolopoulos, D. and McKee, G. T., “Reconfigurable Robots for All Terrain Exploration,” In: Proceedings of SPIE - The International Society for Optical Engineering. 4196, (2000) pp. 454–468.Google Scholar
Zykov, V., Mytilinaios, E., Desnoyer, M. and Lipson, H., “Evolved and designed self-reproducing modular robotics,” IEEE Trans Robot 23(2), 308–319 (2007).CrossRefGoogle Scholar
Yu, W., Wang, H. and Chen, G., “Design and kinematic analysis of a 3-translational-DOF spatial parallel mechanism based on polyhedral,” Mech Mach Theory 121, 92–115 (2018).CrossRefGoogle Scholar
Gan, D., Dai, J. S. and Caldwell, D. G., “Constraint-based limb synthesis and mobility-change-aimed mechanism construction,” J Mech Design 133(5), 051001 (2011).CrossRefGoogle Scholar
Hu, X. and Liu, H., “Design and analysis of full-configuration decoupled actuating reconfigurable parallel spherical joint,” J Mech Sci Technol 36(2), 933–945 (2022).CrossRefGoogle Scholar
Li, D., Jia, P., Li, J., Zhang, D. and Kong, X., “Constraint and mobility change analysis of rubik’s cube-inspired reconfigurable joints and corresponding parallel mechanisms,” Chin J Mech Eng 33(1), 81 (2020).CrossRefGoogle Scholar
Gan, D., Dias, J. and Seneviratne, L., “Unified kinematics and optimal design of a 3rRPS metamorphic parallel mechanism with a reconfigurable revolute joint,” Mech Mach Theory 96, 239–254 (2016).CrossRefGoogle Scholar
Ye, W., Chai, X. and Zhang, K., “Kinematic modeling and optimization of a new reconfigurable parallel mechanism,” Mech Mach Theory 149, 103850 (2020).CrossRefGoogle Scholar
Jia, P., Li, D., Zhang, Y. and Yang, C., “A novel reconfigurable parallel mechanism constructed with spatial metamorphic four-link mechanism,” Proceed Inst Mech Engin, Part C: J Mech Engin Sci 236(8), 4120–4132 (2022).CrossRefGoogle Scholar
Kong, X. and Jin, Y., “Type synthesis of 3-DOF multi-mode translational/spherical parallel mechanisms with lockable joints,” Mech Mach Theory 96, 323–333 (2016).CrossRefGoogle Scholar
Coppola, G., Zhang, D. and Liu, K., “A 6-DOF reconfigurable hybrid parallel manipulator,” Robot Com-Integr Manuf 30(2), 99–106 (2014).CrossRefGoogle Scholar
Ibarreche, J. I., Hernández, A., Petuya, V. and Urízar, M., “A methodology to achieve the set of operation modes of reconfigurable parallel manipulators,” Meccanica 54(15), 2507–2520 (2019).CrossRefGoogle Scholar
Ye, W., Fang, Y., Guo, S. and Chen, Y., “Two classes of reconfigurable parallel mechanisms constructed with multi-diamond kinematotropic chain,” Proceed Inst Mech Engin, Part C: J Mech Engin Sci 230(18), 3319–3330 (2016).CrossRefGoogle Scholar
Ye, W., Fang, Y., Zhang, K. and Guo, S., “A new family of reconfigurable parallel mechanisms with diamond kinematotropic chain,” Mech Mach Theory 74, 1–9 (2014).CrossRefGoogle Scholar
Cui, X., Sun, Y., Tian, Y., Xu, K. and Kuo, S., “Mechanical Design and Rolling Locomotion Analyses of a Novel Reconfigurable Mobile Robot Constructed by a Parallel Mechanism,” In: 19th IEEE International Conference on Mechatronics and Automation (IEEE ICMA), (2022) pp. 744–748.Google Scholar
Tian, C., Fang, Y., Guo, S. and Qu, H., “A class of reconfigurable parallel mechanisms with five-bar metamorphic linkage,” Proceed Inst Mech Engin, Part C: J Mech Engin Sci 231(11), 2089–2099 (2017).CrossRefGoogle Scholar
Huang, G., Zhang, D., Guo, S. and Qu, H., “Structural synthesis of a class of reconfigurable parallel manipulators based on over-constrained mechanisms,” Int J Robot Autom 34(2), 183–193 (2019).Google Scholar
Wei, J. and Dai, J. S., “Lie group based type synthesis using transformation configuration space for reconfigurable parallel mechanisms with bifurcation between spherical motion and planar motion,” J Mech Design 142(6), 063302 (2020).CrossRefGoogle Scholar
Wei, J., Qiu, C. and Dai, J. S., “Configuration switch and path selection between schönflies motion and non-schönflies motion based on quotient manifold of novel reconfigurable parallel mechanisms,” Mech Mach Theory 180, 105153 (2023).CrossRefGoogle Scholar
Tian, C., Zhang, D., Tang, H. and Wu, C., “Structure synthesis of reconfigurable generalized parallel mechanisms with configurable platforms,” Mech Mach Theory 160, 104281 (2021).CrossRefGoogle Scholar
Kang, X. and Dai, J. S., “Relevance and transferability for parallel mechanisms with reconfigurable platforms,” J Mech Robot 11(3), 031012 (2019).CrossRefGoogle Scholar
Xu, Y., Liang, Z. and Liu, J., “A new metamorphic parallel leg mechanism with reconfigurable moving platform,” Math Probl Eng 2020, 3234969(2020).Google Scholar
Huang, G., Zhang, D., Zou, Q., Ye, W. and Kong, L., “Analysis and design method of a class of reconfigurable parallel mechanisms by using reconfigurable platform,” Mech Mach Theory 181, 105215–102023 (2023).CrossRefGoogle Scholar
Sun, J., Zhang, X., Wei, G. and Dai, J. S., “Geometry and kinematics for a spherical-base integrated parallel mechanism,” Meccanica 51(7), 1607–1621 (2016).CrossRefGoogle Scholar
Dai, J. S., “Survey and Business Case Study of the Dexterous Reconfigurable Assembly and Packaging System (D-RAPS),” In: Proceedings of the Science and Technology Report. Port Sunlight: Unilever Research: PS960321, (1996).Google Scholar
Dai, J. S. J. and J., R., “Mobility in Metamorphic Mechanisms of Foldable/Erectable Kinds,” In: Proceedings of 25th ASME Biennial Mechanisms Conference, (1998).CrossRefGoogle Scholar
Fang, H., Fang, Y. and Zhang, K., “Kinematics and workspace analysis of a novel 3-DOF parallel manipulator with virtual symmetric plane,” Proceed Inst Mech Engin Part C J Mech Engin Sci 227(3), 620–629 (2013).CrossRefGoogle Scholar
Wang, R., Song, Y. and Dai, J. S., “Reconfigurability of the origami-inspired integrated 8R kinematotropic metamorphic mechanism and its evolved 6R and 4R mechanisms,” Mech Mach Theory 161, 104245 (2021).CrossRefGoogle Scholar
Zhang, K. and Liu, C., “Design and analysis of a novel reconfigurable parallel manipulator with Kirigami-inspired Bennett Plano-spherical linkages and angular pouch motors,” J Mech Rob 13(4), 040911 (2021).CrossRefGoogle Scholar
Barreto, R. L. P., Morlin, F. V., de Souza, M. B., Carboni, A. P. and Martins, D., “Multiloop origami-inspired spherical mechanisms,” Mech Mach Theory 155(1), 104063 (2021).CrossRefGoogle Scholar
Chen, Y., Peng, R. and You, Z., “Origami of thick panels,” Science 349(6246), 396–400 (2015).CrossRefGoogle ScholarPubMed
Belcastro, S.-M. and Hull, T. C., “Modelling the folding of paper into three dimensions using affine transformations,” Line Algeb Appl 348(1-3), 273–282 (2002).CrossRefGoogle Scholar
Zimmermann, L., Shea, K. and Stanković, T., Conditions for rigid and flat foldability of degree-n vertices in origami,” J Mech Rob 12(1), 1–26 (2019).Google Scholar
Wang, X., Qu, H. and Guo, S., “Tristable property and the high stiffness analysis of Kresling pattern origami,” Int J Mech Sci 256, 108515 (2023).CrossRefGoogle Scholar
Wang, X., Qu, H., Li, X., Kuang, Y., Wang, H. and Guo, S., “Multi-triangles cylindrical origami and inspired metamaterials with tunable stiffness and stretchable robotic arm,” PNAS Nexus 2(4), pgad098 (2023).CrossRefGoogle ScholarPubMed
Chen, Y., Lv, W., Peng, R. and Wei, G., “Mobile assemblies of four-spherical-4R-integrated linkages and the associated four-crease-integrated rigid origami patterns,” Mech Mach Theory 142, 103613 (2019).CrossRefGoogle Scholar
Yu, H., Guo, Z. and Wang, J., “A method of calculating the degree of freedom of foldable plate rigid origami with adjacency matrix,” Adv Mech Eng 10(6), 168781401877969 (2018).CrossRefGoogle Scholar
Cervantes-Sánchez, J. J., Hernández-Rodrıguez, J. C. and González-Galván, E. J., “On the 5R spherical, symmetric manipulator: Workspace and singularity characterization,” Mech Mach Theory 39(4), 409–429 (2004).CrossRefGoogle Scholar
Zhang, C., Wan, Y., Zhang, D. and Ma, Q., “A new mathematical method to study the singularity of 3-RSR multimode mobile parallel mechanism,” Mathe Probl Engin 2019, 1327167 (2019).Google Scholar
Özdemir, M., “Singularity robust balancing of parallel manipulators following inconsistent trajectories,” Robotica 34(9), 2027–2038 (2016). doi: 10.1017/S0263574714002719.CrossRefGoogle Scholar
Bu, W., “Closeness to singularities of robotic manipulators measured by characteristic angles,” Robotica 34(9), 2105–2115 (2016). doi: 10.1017/S0263574714002823.CrossRefGoogle Scholar
Zarkandi, S., “A new geometric method for singularity analysis of spherical mechanisms,” Robotica 29(7), 1083–1092 (2011). doi: 10.1017/S0263574711000385.CrossRefGoogle Scholar
Gallant, M. and Gosselin, C., “Singularities of a planar 3-RPR parallel manipulator with joint clearance,” Robotica 36(7), 1098–1109 (2018). doi: 10.1017/S0263574718000279.CrossRefGoogle Scholar