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Reconfiguration Analysis of a 2-DOF 3-4R Parallel Manipulator With Planar Base and Platform

[+] Author Affiliations
Xianwen Kong

Heriot-Watt University, Edinburgh, UK

Jingjun Yu

Beihang University, Beijing, China

Duanling Li

Beijing University of Posts and Telecommunications, Beijing, China

Paper No. DETC2015-46219, pp. V05CT08A034; 9 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5C: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5714-4
  • Copyright © 2015 by ASME


This paper deals with a 2-DOF 3-4R parallel manipulator (PM) with planar base and platform — a novel PM with multiple operation mode (or disassembly-free reconfigurable PM) with minimum number of actuated joints. At first, a set of constraint equations of the 3-4R PM is derived with the orientation of the moving platform represented using a Euler parameter quaternion (also Euler-Rodrigues quaternion) and then solved using the algebraic geometry method. It is found that this 3-4R PM has six 2-DOF operation modes, including the two expected spherical translation mode and sphere-on-sphere rolling mode when the PM was synthesized. The motion characteristics of the moving platform are obtained using the kinematic interpretation of Euler parameter quaternions with certain number of constant zero components, which was presented in a recent paper by the first author of this paper, instead of the eigenspace based approach in the literature. The transition configurations, which are constraint singular configurations, among different operation modes are also presented. This work provides a solid foundation to the development and control of the 2-DOF 3-4R parallel manipulator (PM) with both 2-DOF spherical translation mode and 2-DOF sphere-on-sphere rolling mode.

Copyright © 2015 by ASME
Topics: Manipulators



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