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 language | English |
|---|---|
| Title of host publication | ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Publisher | American Society of Mechanical Engineers |
| Volume | 5B |
| ISBN (Electronic) | 9780791850169 |
| DOIs | |
| Publication status | Published - 2016 |
| Event | 40th Mechanisms and Robotics Conference 2016 - Charlotte, United States Duration: 21 Aug 2016 → 24 Aug 2016 |
Conference
| Conference | 40th Mechanisms and Robotics Conference 2016 |
|---|---|
| Country/Territory | United States |
| City | Charlotte |
| Period | 21/08/16 → 24/08/16 |
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