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A novel type of parallel manipulator with flexible morphing platform

Published online by Cambridge University Press:  20 September 2024

Zhengtao Chen ,
Yanjun Wang ,
Zhenkun Liang ,
Genliang Chen Open the ORCID record for Genliang Chen [Opens in a new window]  and
Hao Wang
Zhengtao Chen
Affiliation:
State Key Laboratory of Mechanical Systems and Vibration, Shanghai Jiao Tong University, Shanghai, China
Yanjun Wang
Affiliation:
Institue of Marine Equipment, Shanghai Jiao Tong University, Shanghai, China
Zhenkun Liang
Affiliation:
State Key Laboratory of Mechanical Systems and Vibration, Shanghai Jiao Tong University, Shanghai, China
Genliang Chen*
Affiliation:
Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, China Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, China
Hao Wang
Affiliation:
State Key Laboratory of Mechanical Systems and Vibration, Shanghai Jiao Tong University, Shanghai, China Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, China
*
Corresponding author: Genliang Chen; Email: leungchan@sjtu.edu.cn
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Abstract

Parallel manipulators with flexible morphing platform (FMP) provide potential solution in various application fields, such as shape-morphing underwater robot, deformable wings, and human–machine interfaces. However, there is still lack of effective approach for the design and analysis of such novel type of parallel manipulator. In this article, a 9-UPS redundant actuation parallel manipulator with flexible morphing moving platform is designed as a representative of this kind of manipulator. Correspondingly, a deformation estimation and shape control approach for the FMP is presented. The proposed deformation estimation approach is designed based on the bending energy, which can achieve high calculation efficiency and avoid complex mechanical definition and calculation. And the proposed shape control approach is realized by utilizing a nonrigid ICP match algorithm, which can continuously deform the morphing platform to an arbitrary target surface. A prototype of the 9-UPS parallel manipulator is fabricated and analyzed as verification. The experiment results show that the proposed approach offers a promising avenue for the deformation estimation and shape control of the morphing platform.

Keywords

deformation estimationshape controlflexible morphing platformshape description
Type
Research Article
Information
Robotica , Volume 42 , Issue 9 , September 2024 , pp. 2969 - 2990
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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