Geometric constraint-based reconfiguration and self-motions of a 4-CRU parallel mechanism

Nurahmi, L, Putrayudanto, P, Wei, G ORCID: and Agrawal, SK 2021, 'Geometric constraint-based reconfiguration and self-motions of a 4-CRU parallel mechanism' , Journal of Mechanisms and Robotics, 13 (2) , 021017.

PDF - Accepted Version
Available under License Creative Commons Attribution 4.0.

Download (6MB) | Preview
Access Information: ASME © 2021


This paper aims to investigate the reconfiguration and self-motions of a 4-CRU parallel mechanism based on the mechanism geometric constraints. The targeted application of such mechanism in this research is for 3D-printing buildings of multi-directional nozzle as a new technology for constructing sustainable housing. By using primary decomposition, four geometric constraints are identified and the reconfiguration analysis is carried out in each of these. It reveals that each geometric constraint will have three distinct operation modes, namely Schoenflies mode, reversed Schoenflies mode and an additional mode. The additional mode can be either 4-DOF mode or it degenerates into 3-DOF mode, depending on the type of the geometric constraint. By taking into account the actuation and constraint singularities, the workspace of each operation mode is analysed and geometrically illustrated. It allows us to determine the regions in which the reconfiguration takes place. Furthermore, the moving-platform can still perform at least 1-DOF self-motion. It occurs at two specific actuated leg lengths. Demonstration of reconfiguration process and self-motions are also provided through a mock-up prototype.

Item Type: Article
Additional Information: ** Article version: VoR ** From Crossref journal articles via Jisc Publications Router **Journal IDs: pissn 1942-4302; eissn 1942-4310
Schools: Schools > School of Computing, Science and Engineering
Journal or Publication Title: Journal of Mechanisms and Robotics
Publisher: ASME International
ISSN: 1942-4302
Related URLs:
Funders: Royal Academy of Engineering
SWORD Depositor: Publications Router
Depositing User: Publications Router
Date Deposited: 01 Mar 2021 11:07
Last Modified: 04 Mar 2022 02:30

Actions (login required)

Edit record (repository staff only) Edit record (repository staff only)


Downloads per month over past year