Control strategy and trajectory planning for reconfiguration of a vA based metamorphic parallel manipulator

Evangelos Emmanouil; Ketao Zhang; Jian S. Dai

doi:10.1115/DETC2013-12445

Control strategy and trajectory planning for reconfiguration of a vA based metamorphic parallel manipulator

Evangelos Emmanouil, Ketao Zhang, Jian S. Dai^*

^*Corresponding author for this work

Department of Informatics

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

1 Citation (Scopus)

Abstract

Mechanisms with reconfigurability have become a trend in development of multi-functional robots which can adapt to unexpected environments and perform complicated tasks. This paper presents a novel metamorphic parallel manipulator with the ability to change its mobility through the phase change of a variableaxis (vA) joint integrated in each limb. The platform has 6 DOFs in the source phase and can reconfigure its mobility to 5, 4 and 3 resorting to redundant actuation. This leads to reconfigurability and multi-functionality of the parallel manipulator characterized by the mobility configuration variation. A control strategy and a trajectory planning algorithm for reconfiguring the mobility configuration of the manipulator are proposed and simulations are carried out to identify a proper way of reconfiguration.

Original language	English
Title of host publication	Proceedings of the ASME Design Engineering Technical Conference
Publisher	American Society of Mechanical Engineers
Number of pages	88
Volume	6 B
ISBN (Print)	9780791855942
DOIs	https://doi.org/10.1115/DETC2013-12445
Publication status	Published - 7 Aug 2013
Event	ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 - Portland, OR, United States Duration: 4 Aug 2013 → 7 Aug 2013

Conference

Conference	ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013
Country/Territory	United States
City	Portland, OR
Period	4/08/2013 → 7/08/2013

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10.1115/DETC2013-12445

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title = "Control strategy and trajectory planning for reconfiguration of a vA based metamorphic parallel manipulator",

abstract = "Mechanisms with reconfigurability have become a trend in development of multi-functional robots which can adapt to unexpected environments and perform complicated tasks. This paper presents a novel metamorphic parallel manipulator with the ability to change its mobility through the phase change of a variableaxis (vA) joint integrated in each limb. The platform has 6 DOFs in the source phase and can reconfigure its mobility to 5, 4 and 3 resorting to redundant actuation. This leads to reconfigurability and multi-functionality of the parallel manipulator characterized by the mobility configuration variation. A control strategy and a trajectory planning algorithm for reconfiguring the mobility configuration of the manipulator are proposed and simulations are carried out to identify a proper way of reconfiguration. ",

author = "Evangelos Emmanouil and Ketao Zhang and Dai, {Jian S.}",

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Emmanouil, E , Zhang, K & Dai, JS 2013, Control strategy and trajectory planning for reconfiguration of a vA based metamorphic parallel manipulator. in Proceedings of the ASME Design Engineering Technical Conference. vol. 6 B, DETC2013-12445, American Society of Mechanical Engineers, ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013, Portland, OR, United States, 4/08/2013. https://doi.org/10.1115/DETC2013-12445

Control strategy and trajectory planning for reconfiguration of a vA based metamorphic parallel manipulator. / Emmanouil, Evangelos ; Zhang, Ketao ; Dai, Jian S.
Proceedings of the ASME Design Engineering Technical Conference. Vol. 6 B American Society of Mechanical Engineers, 2013. DETC2013-12445.

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

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T1 - Control strategy and trajectory planning for reconfiguration of a vA based metamorphic parallel manipulator

AU - Emmanouil, Evangelos

AU - Zhang, Ketao

AU - Dai, Jian S.

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N2 - Mechanisms with reconfigurability have become a trend in development of multi-functional robots which can adapt to unexpected environments and perform complicated tasks. This paper presents a novel metamorphic parallel manipulator with the ability to change its mobility through the phase change of a variableaxis (vA) joint integrated in each limb. The platform has 6 DOFs in the source phase and can reconfigure its mobility to 5, 4 and 3 resorting to redundant actuation. This leads to reconfigurability and multi-functionality of the parallel manipulator characterized by the mobility configuration variation. A control strategy and a trajectory planning algorithm for reconfiguring the mobility configuration of the manipulator are proposed and simulations are carried out to identify a proper way of reconfiguration.

AB - Mechanisms with reconfigurability have become a trend in development of multi-functional robots which can adapt to unexpected environments and perform complicated tasks. This paper presents a novel metamorphic parallel manipulator with the ability to change its mobility through the phase change of a variableaxis (vA) joint integrated in each limb. The platform has 6 DOFs in the source phase and can reconfigure its mobility to 5, 4 and 3 resorting to redundant actuation. This leads to reconfigurability and multi-functionality of the parallel manipulator characterized by the mobility configuration variation. A control strategy and a trajectory planning algorithm for reconfiguring the mobility configuration of the manipulator are proposed and simulations are carried out to identify a proper way of reconfiguration.

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AN - SCOPUS:84896961824

SN - 9780791855942

VL - 6 B

BT - Proceedings of the ASME Design Engineering Technical Conference

PB - American Society of Mechanical Engineers

T2 - ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013

Y2 - 4 August 2013 through 7 August 2013

ER -

Control strategy and trajectory planning for reconfiguration of a vA based metamorphic parallel manipulator

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