Reconfiguration analysis of a 2-DOF 3-4R parallel manipulator with planar base and platform

Xianwen Kong, Jingjun Yu, Duanling Li*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


This paper deals with a 2-DOF 3-4R parallel manipulator (PM) with planar base and platform — a novel PM with multiple operation mode (or disassembly-free reconfigurable PM) with minimum number of actuated joints. At first, a set of constraint equations of the 3-4R PM is derived with the orientation of the moving platform represented using a Euler parameter quaternion (also Euler-Rodrigues quaternion) and then solved using the algebraic geometry method. It is found that this 3-4R PM has six 2-DOF operation modes, including the two expected spherical translation mode and sphere-on-sphere rolling mode when the PM was synthesized. The motion characteristics of the moving platform are obtained using the kinematic interpretation of Euler parameter quaternions with certain number of constant zero components, which was presented in a recent paper by the first author of this paper, instead of the eigenspace based approach in the literature. The transition configurations, which are constraint singular configurations, among different operation modes are also presented. This work provides a solid foundation to the development and control of the 2-DOF 3-4R parallel manipulator (PM) with both 2-DOF spherical translation mode and 2-DOF sphere-on-sphere rolling mode.
Original languageEnglish
Title of host publicationASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
PublisherAmerican Society of Mechanical Engineers
ISBN (Print)9780791857144
Publication statusPublished - 2015
Event39th Mechanisms and Robotics Conference 2015 - Boston, United States
Duration: 2 Aug 20155 Aug 2015


Conference39th Mechanisms and Robotics Conference 2015
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation


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