Research Papers

Type Synthesis of 3-DOF Parallel Manipulators With Both a Planar Operation Mode and a Spatial Translational Operation Mode1

[+] Author and Article Information
Xianwen Kong

School of Engineering and Physical Sciences,
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: X.Kong@hw.ac.uk

In Ref. [10], PMs are named after their virtual chains. For example, translational PMs and planar PMs are called by PPP = PMs and E = PMs, respectively.

1This original version of this paper was presented at the ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2011-48510, Aug. 28–31, 2011, Washington, DC.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received September 7, 2011; final manuscript received July 22, 2013; published online October 10, 2013. Assoc. Editor: Kazem Kazerounian.

J. Mechanisms Robotics 5(4), 041015 (Oct 10, 2013) (8 pages) Paper No: JMR-11-1105; doi: 10.1115/1.4025219 History: Received September 07, 2011; Revised July 22, 2013

Type synthesis of multimode parallel manipulators (PMs) (also parallel manipulators with multiple operation modes) is an open issue in the research on reconfigurable mechanisms and robots. This paper deals with the type synthesis of 3-DOF (degree-of-freedom) parallel manipulators with both a planar operation mode and a spatial translational operation mode. The type synthesis of planar parallel manipulators, which refer to parallel manipulators in which the moving platform undergoes planar motion, is first dealt with using the virtual-chain approach. Types of planar parallel manipulators, including those involving Bennett compositional unit (CU), are obtained. Then, the types of 3-DOF parallel manipulators with both a planar operation mode and a translational operation mode are obtained. This paper focuses on 3-DOF parallel manipulators composed of only revolute joints. This work contributes to the type synthesis of parallel manipulators and can be extended to the type synthesis of other classes of multimode parallel manipulators.

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Grahic Jump Location
Fig. 1

Representation of planar motion pattern: E virtual chain

Grahic Jump Location
Fig. 2

Compositional units for planar parallel manipulators: (a) Spherical CU R·R·, (b) Planar CU ŔŔŔŔ, (c) Bennett CU, and (d) Supplement joint of a Bennett CU

Grahic Jump Location
Fig. 3

3-DOF single-loop planar kinematic chains: (a) R″R″R″ÀÀ(RRR)E, and (b) R″RRR˜R″(RRR)E

Grahic Jump Location
Fig. 4

Some legs for planar parallel mechanisms: (a) R″R″R″ÀÀ, (b) R″R″R·R·R″, (c) R˜R″R″R″R˜, and (d) R″RRR˜R″

Grahic Jump Location
Fig. 5

Some legs for E/PPP = PMs: (a) R″R″R″ÀÀ and (b) (R˜)'(R″)‘(R″)‘(R″)‘(R˜)'

Grahic Jump Location
Fig. 6

Reconfiguration of an (R˜)′(R″¯)‘(R″)‘(R″)‘(R˜)'–2-R″¯R″R″ÀÀ E/PPP = PM: (a) Planar mode R˜R″¯R″R″R˜–2-R″¯R″R″ÀÀ, (b) Transition configuration (R˜)'(R″¯)‘(R″)‘(R″)‘(R˜)'–2-R″¯R″R″ÀÀ, and (c) Translational mode ÀR″¯ŔŔÀ–2-R″¯R″R″ÀÀ




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