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Keywords: reconfiguration analysis
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Journal Articles

Classification of 3-Degree-of-Freedom 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover

Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041010.
Paper No: JMR-21-1541
https://doi.org/10.1115/1.4054307
Published Online: June 6, 2022
... is proposed. Reconfiguration analysis shows that unlike most existing 3-UPU TPMs which can transit from a 3-DOF translational mode to two or more 3-DOF operation modes, the proposed 3-UPU TPM can only transit from a 3-DOF translational mode to one general 3-DOF operation mode. The singularity locus divides...
View Articletitled, Classification of 3-Degree-of-Freedom 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover
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Topics: Parallel mechanisms, Polynomials, Constraint equations
Journal Articles

Structure Synthesis and Reconfiguration Analysis of Variable-Degree-of-Freedom Single-Loop Mechanisms With Prismatic Joints Using Dual Quaternions

Kai Liu, Jingjun Yu, Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021009.
Paper No: JMR-21-1166
https://doi.org/10.1115/1.4052338
Published Online: September 21, 2021
...Kai Liu; Jingjun Yu; Xianwen Kong This paper deals with the structure synthesis and reconfiguration analysis of variable-DOF (variable-degree-of-freedom) single-loop mechanisms with prismatic joints based on a unified tool—the dual quaternion. According to motion polynomials over dual quaternions...
View Articletitled, Structure Synthesis and Reconfiguration Analysis of Variable-Degree-of-Freedom Single-Loop Mechanisms With Prismatic Joints Using Dual Quaternions
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Topics: Algebra, Polynomials, Chain, Kinematics
Journal Articles

Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints

Xianwen Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031007.
Paper No: JMR-20-1443
https://doi.org/10.1115/1.4050152
Published Online: March 12, 2021
...Xianwen Kong This paper deals with the construction and reconfiguration analysis of a spatial mechanism composed of four circular translation (G) joints. Two links connected by a G joint, which can be in different forms such as a planar parallelogram, translate along a circular trajectory...
View Articletitled, Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints
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Topics: Construction, Degrees of freedom, Kinematics, Mechanical admittance, Switches, Trajectories (Physics), Algebra, Circuits, Cables, Gears