Research Papers

Extra Modes of Operation and Self-Motions in Manipulators Designed for Schoenflies Motion

[+] Author and Article Information
Michel Coste

Université de Rennes I,
Rennes 35042, France
e-mail: michel.coste@univ-rennes1.fr

Kartoue Mady Demdah

Department of Mathematics,
University of N'Djamena,
N'Djamena, Chad
e-mail: kartoue@hotmail.com

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received August 20, 2014; final manuscript received December 17, 2014; published online April 6, 2015. Assoc. Editor: Philippe Wenger.

J. Mechanisms Robotics 7(4), 041020 (Nov 01, 2015) (6 pages) Paper No: JMR-14-1226; doi: 10.1115/1.4029501 History: Received August 20, 2014; Revised December 17, 2014; Online April 06, 2015

We study 4-universal-prismatic-universal (UPU) parallel manipulators performing Schoenflies motion and show that they can have extra modes of operation with three degrees of freedom (3DOF), depending on the geometric parameters of the manipulators. We show that the transition between the different modes occurs along self-motion of the manipulator in the Schoenflies mode.

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Grahic Jump Location
Fig. 1

Left: the 4-UPU. Right: geometry of a leg; dashed lines are the axes of rotoidal joints.

Grahic Jump Location
Fig. 2

Motion from the Schoenflies mode to the reverse-Schoenflies mode from two different viewpoints

Grahic Jump Location
Fig. 3

Left: picture of AS+, 3d component of actuation singularities in the workspace. Right: picture of P+, plane in the joint space containing the image of AS+ under IKM.

Grahic Jump Location
Fig. 4

Two viewpoints on self-motion along vertical circle in the Schoenflies mode. The top pose is a transition to an extra mode of operation.

Grahic Jump Location
Fig. 5

Rotations of the platform explaining the extra modes of operation




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