Huang Tian  Li Meng  Wu Mengli  Mei Jiangping  Zhao Xueman

(School of Mechanical Engineering, Tianjin University, Tianjin 300072)

Hu S. Jack

(Department of Mechanical Engineering, The University of Michigan, Ann Arbor  MI48109, USA)

Abstract: One of the major tendencies towards the development of parallel kinematic machines (PKM) is to make full use of its reconfigurability and multiple-functionality. Modularity is the key enabling technology of reconfigurability. A set of criteria for the conceptual design of reconfigurable PKM modules is presented. The composition principle of sub-6-DOF parallel mechanisms is revisited using the theory of linear algebra, resulting in three classes of parallel mechanisms which can be generated by four types of limbs in terms of actuation and constraints. Considering the performances in terms of reconfigurability, speed, rigidity and accuracy, it concludes that the parallel mechanisms with simple proper-constraint limb whose degrees of freedom and type are exactly the same as those of the mobile platform would be the most suitable candidates. Consequently, a novel 5-DOF hybrid PKM module named TriVariant is proposed and its reconfigurability is demonstrated via a few examples for potential applications.

Key words: Parallel kinematic machines  Modular design  Reconfigurability

CLC No: TG156

国家自然科学基金(50328506, 50375106)和天津市科技攻关(043103711)资助项目. Received 20041231, received in revised form 20050414