Abstract
Parallel manipulators with multiple operation modes (PMwMOMs) are novel reconfigurable parallel manipulators which use less number of actuators and can be reconfigured rapidly. Although several classes of PMwMOMs that have the same DOF in all the operation modes have been proposed, only one class
of variable-DOF (degrees-of-freedom) PMwMOMs — PMwMOMs that do not have the same DOF in all the operation modes — have been proposed so far. This paper deals with the type synthesis of PMs with both a planar operation mode and a 3T1R operation mode. At first, the approach to the type synthesis of
PMwMOMs is recalled. Based on the results on the type synthesis of planar parallel manipulators and 3T1R parallel manipulators, the types of variable-DOF parallel manipulators with both planar and 3T1R operation modes are then obtained. This work can be extended to the type synthesis of other classes of parallel manipulators with multiple operation modes.
of variable-DOF (degrees-of-freedom) PMwMOMs — PMwMOMs that do not have the same DOF in all the operation modes — have been proposed so far. This paper deals with the type synthesis of PMs with both a planar operation mode and a 3T1R operation mode. At first, the approach to the type synthesis of
PMwMOMs is recalled. Based on the results on the type synthesis of planar parallel manipulators and 3T1R parallel manipulators, the types of variable-DOF parallel manipulators with both planar and 3T1R operation modes are then obtained. This work can be extended to the type synthesis of other classes of parallel manipulators with multiple operation modes.
Original language | English |
---|---|
Title of host publication | Proceedings of ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference |
Publisher | American Society of Mechanical Engineers |
Pages | 497-504 |
Number of pages | 8 |
Volume | 4 |
ISBN (Print) | 978-0-7918-4503-5 |
Publication status | Published - Aug 2012 |