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Design and analysis of a reconfigurable mechanism based on double slider morphing mechanism

Published online by Cambridge University Press:  11 April 2025

Shiqing Lu ,
Yiqing Xie Open the ORCID record for Yiqing Xie [Opens in a new window] ,
Weiqiang Lyu ,
Hui Jin ,
Xia Huang Open the ORCID record for Xia Huang [Opens in a new window]  and
Jun Ding
Shiqing Lu
Affiliation:
College of Mechanical Engineering, Chongqing University of Technology, Chongqing, China
Yiqing Xie
Affiliation:
College of Mechanical Engineering, Chongqing University of Technology, Chongqing, China
Weiqiang Lyu
Affiliation:
Electrical and Computer Engineering, University of Alabama, Tuscaloosa, AL, USA
Hui Jin*
Affiliation:
College of Mechanical Engineering, Chongqing University of Technology, Chongqing, China
Xia Huang
Affiliation:
College of Mechanical Engineering, Chongqing University of Technology, Chongqing, China
Jun Ding
Affiliation:
College of Mechanical Engineering, Chongqing University of Technology, Chongqing, China
*
Corresponding author: Hui Jin; Email: [email protected]
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Abstract

In this paper, a novel special structure derived from the double-slider mechanism is presented and apply it to the design of a parallel mechanism, endowing the designed parallel mechanism with reconfigurable characteristics. First, a comprehensive analysis of the motion modes of the double-slider mechanism is carried out. By ingeniously varying the slider structure of the double-slider mechanism, a special structure capable of three distinct motion modes is obtained. This special structure is then integrated into the 3UPU parallel mechanism. As a result, the redesigned 3UPU parallel mechanism exhibits reconfigurability and can seamlessly switch among the three motion modes. Subsequently, the inverse kinematics, workspace, and singular pose of the parallel mechanism in these three modes are meticulously analyzed. Moreover, the Jacobian matrix is utilized to evaluate its flexibility and load-bearing performance. The analysis reveals that in different motion modes, all performance indicators of the mechanism are remarkable, indicating a promising application prospect. Finally, a prototype is fabricated using 3D printing technology to further validate the effectiveness of the proposed special structure. Additionally, its versatility is further explored and analyzed in-depth.

Keywords

reconfigurable parallel mechanismdouble-slider mechanismscrew theorykinematics analysisperformance evaluation
Type
Research Article
Information
Robotica , First View , pp. 1 - 19
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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