Type synthesis of variable degree-of-freedom parallel manipulators with both planar and 3T1R operation modes

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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.
Original languageEnglish
Title of host publicationProceedings of ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference
PublisherAmerican Society of Mechanical Engineers
Pages497-504
Number of pages8
Volume4
ISBN (Print)978-0-7918-4503-5
Publication statusPublished - Aug 2012

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