Operation mode analysis of a 4-DOF n-RER parallel manipulator with three operation modes

Xianwen Kong, Yan-An Yao

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

This paper proposes a 4-DOF (degrees-of-freedom) n-RER parallel manipulator (PM) with congruent base and moving platform (CBP). The 4-DOF n-RER PM is composed of a base and a moving platform connected by n RER legs, each of which is a serial kinematic chain composed of a revolute (R) joint, a planar (E) joint and an R joint in sequence. At first, a set of constraint equations of the n-RER PM with CBP is first derived. It is then found that like the 3-RER PM with congruent triangular base and platform in the literature, the n-RER PM with CBP has three 4-DOF operation modes regardless of the number of legs (n > 2) and link parameters. The characteristics of the n-RER PM with CBP in different operation modes are also presented.

Original languageEnglish
Title of host publicationAdvances Mechanisms and Machine Science
Subtitle of host publicationIFToMM WC 2019
EditorsTadeusz Uhl
PublisherSpringer
Pages2531-2537
Number of pages7
ISBN (Electronic)9783030201319
ISBN (Print)9783030201302
DOIs
Publication statusE-pub ahead of print - 14 Jun 2019

Publication series

NameMechanisms and Machine Science
Volume73
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Keywords

  • Euler parameters
  • Operation mode
  • Overconstrained mechanism
  • Parallel manipulator
  • Quaternion

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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  • Cite this

    Kong, X., & Yao, Y-A. (2019). Operation mode analysis of a 4-DOF n-RER parallel manipulator with three operation modes. In T. Uhl (Ed.), Advances Mechanisms and Machine Science: IFToMM WC 2019 (pp. 2531-2537). (Mechanisms and Machine Science; Vol. 73). Springer. https://doi.org/10.1007/978-3-030-20131-9_250