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

Xiuyun He (1) , Xianwen Kong (1) , Damien Chablat (2) , Stéphane Caro (3, 4, 5) , Guangbo Hao (6)

1 HWU - Heriot-Watt University [Edinburgh]
2 LS2N - équipe ReV - Robotique Et Vivant
3 LS2N - Laboratoire des Sciences du Numérique de Nantes
4 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
5 CNRS - Centre National de la Recherche Scientifique
6 UCC - University College Cork

This paper deals with the kinematic analysis of a single-loop reconfigurable RRRR-RRR mechanism with multiple operation modes (SLR7RMMOM), which is composed of seven revolute (R) joints and can switch from one operation mode to another one without disconnection and reassembly. The algorithm for the inverse kinematics of the serial open 6R chain using kinematic mapping is adopt to deal with the forward kinematics for the SLR7RMMOM. 13 sets of solutions for the SLR7RMMOM are computed. Among these solutions, nine sets are real solutions, which are verified using the CAD models of the mechanism. It is shown that the present mechanism has three operation modes: translational mode and two 1-DOF planar modes. The transitional configurations between the three modes are also identified.

Mots clés: Transitional configuration; Single-loop reconfigurable mechanism; Multiple operation modes; Forward kinematics; Kinematic mapping

Domaines: Automatique / Robotique

Xiuyun He, Xianwen Kong, Damien Chablat, Stéphane Caro, Guangbo Hao. Kinematic analysis of a single-loop reconfigurable 7R mechanism with multiple operation modes. Robotica, 2014, 32 (7), pp.1171-1188. ⟨10.1017/S0263574713001197⟩. ⟨hal-01084545⟩