Abstract
This paper deals with the reconfiguration analysis of a 3DOF (degreesoffreedom) parallel mechanism (PM) with multiple operation modes  a disassemblyfree reconfigurable PM  using the Euler parameter quaternions and algebraic geometry approach. At first, Euler parameter quaternions are classified into 15 cases based on the number of constant zero components and the kinematic interpretation of different cases of Euler parameter quaternions is presented. A set of constraint equations of a 3RER PM with orthogonal platforms is derived with the orientation of the moving platform represented using a Euler parameter quaternion and then solved using the algebraic geometry method. It is found that this 3RER PM has 15 3DOF operation modes, including four translational modes, six planar modes, four zerotorsionrate motion modes and one spherical mode. The transition configurations, which are singular configurations, among different operation modes are also presented. Especially, the transition configurations in which the PM can switch among eight operation modes are revealed for the first time.
Original language  English 

Pages (fromto)  188201 
Number of pages  14 
Journal  Mechanism and Machine Theory 
Volume  74 
DOIs  
Publication status  Published  Apr 2014 
Keywords
 Parallel manipulator with multiple operation modes
 Quaternion
 Euler parameter
 Singularity analysis
 Algebraic geometry
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Xianwen Kong
 School of Engineering & Physical Sciences  Associate Professor
 School of Engineering & Physical Sciences, Institute of Mechanical, Process & Energy Engineering  Associate Professor
Person: Academic (Research & Teaching)