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Configuration design of movable heavy-duty reconfigurable posture adjustment platform with dual motion modes

Published online by Cambridge University Press:  12 September 2024

Rui Wang Open the ORCID record for Rui Wang [Opens in a new window] ,
Xiaoyan Xiong ,
Jinzhu Zhang Open the ORCID record for Jinzhu Zhang [Opens in a new window]  and
Ruilin Yuan
Rui Wang
Affiliation:
College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan, Shanxi, China
Xiaoyan Xiong*
Affiliation:
College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan, Shanxi, China
Jinzhu Zhang*
Affiliation:
College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan, Shanxi, China National Key Laboratory of Metal Forming Technology and Heavy Equipment, Taiyuan, Shanxi, China
Ruilin Yuan
Affiliation:
College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan, Shanxi, China National Key Laboratory of Metal Forming Technology and Heavy Equipment, Taiyuan, Shanxi, China
*
Corresponding authors:Xiaoyan Xiong; Email: [email protected]; Jinzhu Zhang; Email: [email protected]
Corresponding authors:Xiaoyan Xiong; Email: [email protected]; Jinzhu Zhang; Email: [email protected]
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Abstract

The existing single-mode posture adjustment equipment for solar wing docking is only suitable for a limited number of satellite dimensions; it could not meet the diverse development trends of satellite models. The working range requirements are different when different-sized satellites dock with the solar wing, and the docking process is divided into two stages in this paper. While the DOFs required for the two stages are different, a movable heavy-load reconfigurable redundant posture adjustment platform (RrPAP) with dual motion modes is proposed in this paper. The RrPAP consists of a wheeled mobile platform and a reconfigurable parallel posture adjustment mechanism (PAM). The micro-motion PAM limb types are synthesized, and the comprehensive load-bearing index is proposed to select the mechanism types for heavy-load conditions. A decentralized four-limb six-degree-of-freedom (6-DOF) parallel micro-motion PAM is designed. In the macro-motion stage, for the PAM to still have a defined motion after being released from ground constraints, a serial coupling sub-chain is designed between adjacent limbs to restrict relative movement between them. A type synthesis method for symmetrically coupled mechanisms based on mechanism decoupling and motion distribution is proposed. Four types of symmetrically coupled mechanisms with multi-loop consisting of serial coupling sub-chains are synthesized by using this method. The feasibility of the proposed method is demonstrated through an example using the constraint synthesis method based on screw theory. This work provides a foundation for subsequent refinement and expansion of type synthesis theories and the selection of new types of mechanisms.

Keywords

posture adjustment mechanismdual motion modesreconfigurable designcoupling sub-chain
Type
Research Article
Information
Robotica , Volume 42 , Issue 7 , July 2024 , pp. 2281 - 2308
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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