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Classification of a Multi-mode Parallel Manipulator Based on the Type and Number of Operation Modes

主講人 :Xianwen Kong(Heriot-Watt University) 地點 :自動化學院會議室(教四樓126) 開始時間 : 2019-12-18 10:30 結束時間 : 2019-12-18 12:30

主持人:李端玲教授
主要內容:

The type/number of operation modes of a parallel manipulator (PM) may vary with the link parameters of the PM. Recent  advances in mathematics enable the research on the impact of a PM on its type/number of operation modes. This paper presents a systematic classification of a 3-RER PM based on the type/number of operation modes. The 3-RER PM was originally proposed as a 3T1R PM in the literature. At first, a set of constraint equations of the 3-RER PM is derived. Then using a method called Grobner cover to calculate the comprehensive Grobner system of parametric polynomial systems, the 3-RER PM is classified into 21 types. After determining the operation modes of all the types of 3-RER PMs using primary decomposition of ideals, redundant types and factors influencing the type/number of operation modes of the 3-RER PM are also identified. Besides the two 4-DOF (degree-of-freedom) 3T1R operation modes, different types of 3-RER PMs may have up to two more 3- DOF or other types of 4-DOF operation modes. This work is the first systematic study on the impact of link parameters on the operation modes of the 3-RER PM and provide a solid foundation for further research on the design and control of 3-RER PMs and other multi-mode (or reconfigurable) PMs.

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校學術委員會
自動化學院
20191216

主講人簡介:孔憲文博士目前就職于英國Heriot-Watt University, 其研究領域包括:機構學與機器人及應用。近年來在多模式并聯機構與可重構分析、高精度柔性并聯機構設計與應用取得了突出的進展。他提出了自成體系的并聯機構構型綜合的虛擬鏈法。其學術專著Type Synthesis of Parallel Mechanisms已以英、俄和中三種文字出版。在本學科領域的最權威期刊和會議上(包括International Journal of Robotics Research、ASME Journal of Mechanical Design、IEEE Transactions on Robotics and Automation、Mechanism and Machine Theory、ASME IDETC、ARK等)發表百余篇學術論文,多篇文章的引用率高達100次以上。孔博士目前是ASME機構學與機器人委員會委員。擔任多個國際期刊(Mechanism and Machine Theory,(ASME) Journal of Mechanisms and Robotics, Chinese Journal of Mechanical Engineering,  Mechanical Sciences) 的副主編。

 

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