Abstract
Parallel manipulators (PMs) with multiple operation modes are novel reconfigurable PMs which use less number of actuators and can be reconfigured without disassembly. This paper deals with the type synthesis of 2-DOF PMs with both spatial parallelogram translational mode and equal-diameter spherical rotation mode. At first, a 2-DOF 3-4R overconstrained PM is proposed based on a 5-DOF US equivalent PM proposed in the literature. From this 2-DOF PM, we further obtain a 3-4R PM for equal-diameter spherical rotation and a 3-4R PM for spatial parallelogram translation. By finding the common conditions for the 2-DOF 3-4R PM for spatial parallelogram translation and 2- DOF 3-4R PM for equal-diameter spherical rotation, the types of 2-DOF 3-4R PMs with both spatial parallelogram translational mode and equal-diameter spherical rotation mode are then obtained. This work enriches the types of PMs with multiple operation modes and overconstrained mechanisms.
| Original language | English |
|---|---|
| Title of host publication | ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Publisher | American Society of Mechanical Engineers |
| Volume | 5B |
| ISBN (Electronic) | 9780791846377 |
| DOIs | |
| Publication status | Published - 2014 |
| Event | 38th Mechanisms and Robotics Conference 2014 - Buffalo, United States Duration: 17 Aug 2014 → 20 Aug 2014 |
Conference
| Conference | 38th Mechanisms and Robotics Conference 2014 |
|---|---|
| Country/Territory | United States |
| City | Buffalo |
| Period | 17/08/14 → 20/08/14 |
Keywords
- Overconstrained mechanism
- Parallel manipulator with multiple operation modes
- Screw theory
- Type synthesis
ASJC Scopus subject areas
- Modelling and Simulation
- Mechanical Engineering
- Computer Science Applications
- Computer Graphics and Computer-Aided Design