Abstract
Reconfiguration analysis is essential for the design and control of multi-mode parallel manipulators (PMs). This paper deals with the reconfiguration analysis of a variable-DOF C/E= PM, which was first proposed by T.F. Parikian at the Sixth International Symposium on Advances in Robot Kinematics in 1996. This PM has a specified 2-DOF C= (cylindrical-joint-equivalent) operation mode and a specified 3-DOF E= (planar-joint-equivalent) operation mode. By representing the orientation of the moving platform using a Euler parameter quaternion (also Euler-Rodrigues quaternion), the motion characteristics in each operation mode are revealed with the aid of the kinematic interpretation of Euler parameters with different number of zero components. The reconfiguration analysis of this variable-DOF multi-mode PM shows that the PM has two extra operation modes in addition to its two expected operation modes. The transition configurations between each pair of operation modes of the PM are also identified.
| Original language | English |
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| Title of host publication | 2018 International Conference on Reconfigurable Mechanisms and Robots (ReMAR) |
| Publisher | IEEE |
| ISBN (Electronic) | 9781538663806 |
| DOIs | |
| Publication status | Published - 30 Aug 2018 |
| Event | 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots 2018 - Delft, Netherlands Duration: 20 Jun 2018 → 22 Jun 2018 |
Conference
| Conference | 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots 2018 |
|---|---|
| Abbreviated title | ReMAR 2018 |
| Country/Territory | Netherlands |
| City | Delft |
| Period | 20/06/18 → 22/06/18 |
Keywords
- Multi-mode parallel manipulator
- Quaternion
- Reconfiguration analysis
- Variable degrees-of-freedom parallel manipulator
ASJC Scopus subject areas
- Artificial Intelligence
- Mechanical Engineering
- Control and Optimization
- Modelling and Simulation