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 language | English |
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Article number | 106023 |
Journal | Mechanism and Machine Theory |
Volume | 211 |
Early online date | 25 Apr 2025 |
DOIs | |
Publication status | E-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