Kinematic analysis of a single-loop reconfigurable 7R mechanism with multiple operation modes

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He, Xiuyun
Kong, Xianwen
Chablat, Damien
Caro, Stéphane
Hao, Guangbo
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Cambridge University Press
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This paper presents a novel one-degree-of-freedom (1-DOF) single-loop reconfigurable 7R mechanism with multiple operation modes (SLR7RMMOM), composed of seven revolute (R) joints, via adding a revolute joint to the overconstrained Sarrus linkage. The SLR7RMMOM can switch from one operation mode to another without disconnection and reassembly, and is a non-overconstrained mechanism. The algorithm for the inverse kinematics of the serial 6R mechanism using kinematic mapping is adopted to deal with the kinematic analysis of the SLR7RMMOM. First, a numerical method is applied and an example is given to show that there are 13 sets of solutions for the SLR7RMMOM, corresponding to each input angle. Among these solutions, nine sets are real solutions, which are verified using both a computer-aided design (CAD) model and a prototype of the mechanism. Then an algebraic approach is also used to analyse the mechanism and same results are obtained as the numerical one. It is shown from both numerical and algebraic approaches that the SLR7RMMOM has three operation modes: a translational mode and two 1-DOF planar modes. The transitional configurations among the three modes are also identified.
Single-loop reconfigurable mechanism , Multiple operation modes , Kinematic analysis , Numerical method , Algebraic approach , Transitional configuration
Xiuyun He, Xianwen Kong, Damien Chablat, Stéphane Caro and Guangbo Hao. (2014) Kinematic analysis of a single-loop reconfigurable 7R mechanism with multiple operation modes . Robotica, available on CJO2014. doi:10.1017/S0263574713001197.
Copyright © Cambridge University Press 2014. This article has been accepted for publication and will appear in a revised form, subsequent to peer review and/or editorial input by Cambridge University Press, in Robotica published by Cambridge University Press