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

Show simple item record He, Xiuyun Kong, Xianwen Chablat, Damien Caro, Stéphane Hao, Guangbo 2014-04-15T11:40:37Z 2014-04-15T11:40:37Z 2014-01
dc.identifier.citation 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. en
dc.identifier.issn 1469-8668
dc.identifier.doi 10.1017/S0263574713001197
dc.description.abstract 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. en
dc.description.sponsorship Royal Society, United Kingdom (International Joint Project No. JP100715); Heriot-Watt University (SORSAS PhD scholarship) en
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher Cambridge University Press en
dc.rights 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 en
dc.subject Single-loop reconfigurable mechanism en
dc.subject Multiple operation modes en
dc.subject Kinematic analysis en
dc.subject Numerical method en
dc.subject Algebraic approach en
dc.subject Transitional configuration en
dc.title Kinematic analysis of a single-loop reconfigurable 7R mechanism with multiple operation modes en
dc.type Article (peer-reviewed) en
dc.internal.authorcontactother Guangbo Hao, Electrical & Electronic Engineering, University College Cork, Cork, Ireland. +353-21-490-3000 Email: en
dc.internal.availability Full text available en 2014-04-03T22:48:19Z
dc.description.version Accepted Version en
dc.internal.rssid 237806667
dc.description.status Peer reviewed en
dc.identifier.journaltitle Robotica en
dc.internal.copyrightchecked No !!CORA!! Romeo and publiser's website. AV and set statement. Must update record on publication the full bibliographical details of the article (volume: issue number (date), page numbers) must be inserted after the journal title, together with a link to the Cambridge website address for the Journal. en
dc.internal.licenseacceptance Yes en
dc.internal.IRISemailaddress en

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