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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
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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
Type
Research Article
Information
Robotica , First View , pp. 1 - 24
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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