A 3-RER multi-mode parallel mechanism that has both shaky and regular operation modes

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Abstract

Multi-mode parallel mechanisms (PMs) are a class of reconfigurable PMs that can switch between different operation modes without needing to be disconnected and reassembled. This paper reveals that a 3-RER (or 3-UPU) PM, proposed in an earlier publication by the author, has both regular operation modes, where the moving platform has the same instantaneous degree of-freedom (DOF) and finite DOF, and shaky operation modes, where the moving platform has different instantaneous DOF and finite DOF. The reconfiguration analysis, including the motion mode analysis using the primary decomposition of ideals and the instantaneous mobility analysis of the PM using screw theory, are presented. The analysis shows that the 3-RER multimode PM has nine operation modes, including four 3-DOF spatial translation modes, three 3-DOF planar operation modes, and two 3-DOF zero-torsion operation modes. Among the three operation modes that the PM can switch between without link interference, two are shaky, while the remaining one is regular. This work provides a starting point for further research on multimode PMs that have a shaky operation mode.
Original languageEnglish
Article number106023
JournalMechanism and Machine Theory
Volume211
Early online date25 Apr 2025
DOIs
Publication statusE-pub ahead of print - 25 Apr 2025

Keywords

  • Algebraic geometry
  • Multi-mode parallel mechanism
  • Reconfiguration analysis
  • Regular operation mode
  • Screw theory
  • Shaky operation mode

ASJC Scopus subject areas

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

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