Rojas, Nicolas, Elara Mohan, Rajesh and Sosa, Ricardo (2013) Reconfiguration in linkages by variable allocation of joint positions: a modular design approach. In: 3rd IFToMM International Symposium on Robotics and Mechatronics (ISRM), 2 to 4 October 2013, Singapore.

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Abstract

By properly reallocating the joint positions of pin-jointed planar linkages, all types of reconfiguration characteristics, excepting the change of contact constraints in kinematic pairs, can be obtained. Given the simplicity of this fact, a modular design approach, a general principle of decomposing products into components, is proposed in this work for the assembly of reconfigurable linkages from scratch. The suggested modular component can be modeled as a binary link of variable length, a revolute-prismatic-revolute kinematic chain with an actuated slider joint. The proposed module is discussed and some preliminary results of its design and implementation are shown. A description of some of the applications in reconfiguration of this modular concept, including the design of linkages with changing number of links, variable mobility, and varying geometry, is presented.

Item Type:	Conference or Workshop Item (Paper)
Schools and Departments:	School of Engineering and Informatics > Engineering and Design
Depositing User:	Nicolas Rojas
Date Deposited:	07 Mar 2016 10:17
Last Modified:	07 Mar 2016 10:17
URI:	http://sro.sussex.ac.uk/id/eprint/59876

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