@inbook{c06fa1026f0042a183d121d52db34560,
title = "Operation mode analysis of a 4-DOF n-RER parallel manipulator with three operation modes",
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.",
keywords = "Euler parameters, Operation mode, Overconstrained mechanism, Parallel manipulator, Quaternion",
author = "Xianwen Kong and Yan-An Yao",
year = "2019",
month = jun,
day = "14",
doi = "10.1007/978-3-030-20131-9_250",
language = "English",
isbn = "9783030201302",
series = "Mechanisms and Machine Science",
publisher = "Springer",
pages = "2531--2537",
editor = "Tadeusz Uhl",
booktitle = "Advances Mechanisms and Machine Science",
}