TYPE synthesis of 2-DOF 3-4R parallel mechanisms with both spatial parallelogram translational mode and equal-diameter spherical rotation mode

Xianwen Kong, Jingjun Yu

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

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 languageEnglish
Title of host publicationASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
PublisherAmerican Society of Mechanical Engineers
Volume5B
ISBN (Electronic)9780791846377
DOIs
Publication statusPublished - 2014
Event38th Mechanisms and Robotics Conference 2014 - Buffalo, United States
Duration: 17 Aug 201420 Aug 2014

Conference

Conference38th Mechanisms and Robotics Conference 2014
CountryUnited States
CityBuffalo
Period17/08/1420/08/14

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

Fingerprint Dive into the research topics of 'TYPE synthesis of 2-DOF 3-4R parallel mechanisms with both spatial parallelogram translational mode and equal-diameter spherical rotation mode'. Together they form a unique fingerprint.

Cite this