Reconfiguration Analysis of a Variable Degrees-of-Freedom Parallel Manipulator With Both 3-DOF Planar and 4-DOF 3T1R Operation Modes

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

9 Citations (Scopus)

Abstract

Reconfiguration analysis is essential for the design and control of multi-operation-mode parallel manipulators (PMs). This paper deals with the reconfiguration analysis of a variable-DOF (degrees-of-freedom) multi-operation-mode E/PPPR= PM, i.e. a PM with both 3-DOF planar operation mode and 4-DOF 3T1R (or Schönflies motion which has three translational DOF and 1 rotational DOF) operation mode. The axes of rotation of the moving platform in the 3-DOF planar operation mode are not parallel to the axes of rotation of the moving platform in the 4- DOF 3T1R operation mode. In the reconfiguration analysis, the orientation of the moving platform is represented using a Euler parameter quaternion (also Euler-Rodrigues quaternion). The reconfiguration analysis shows that the E/PPPR= PM has two 4- DOF 3T1R operation modes and two 3-DOF planar operation modes, including the two expected operation modes. The transition configurations between each pair of operation modes are also identified.

Original languageEnglish
Title of host publicationASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
PublisherAmerican Society of Mechanical Engineers
Volume5B
ISBN (Electronic)9780791850169
DOIs
Publication statusPublished - 2016
Event40th Mechanisms and Robotics Conference 2016 - Charlotte, United States
Duration: 21 Aug 201624 Aug 2016

Conference

Conference40th Mechanisms and Robotics Conference 2016
CountryUnited States
CityCharlotte
Period21/08/1624/08/16

Keywords

  • Multi-operation-mode parallel manipulator
  • Quaternion
  • Reconfiguration analysis
  • Variable degrees-of-freedom parallel manipulator

ASJC Scopus subject areas

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

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