0
Research Papers

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

[+] Author and Article Information
Michel Coste

IRMAR–CNRS: UMR 6625,
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.

FIGURES IN THIS ARTICLE
<>
Copyright © 2015 by ASME
Your Session has timed out. Please sign back in to continue.

References

Rolland, L., 1999, “The Manta and the Kanuk: Novel 4 DOF Parallel Mechanism for Industrial Handling,” Proceedings of the ASME Dynamic Systems and Control Division Conference (IMECE'99), Nashville, TN, Nov. 14–19, Vol. 67, pp. 831–844.
Pierrot, F., and Company, O., 1999, “H4: A New Family of 4-DOF Parallel Robots,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Atlanta, GA, Sept. 19–23, pp. 508–513. [CrossRef]
Zhao, T. S., Dai, J. S., and Huang, Z., 2002, “Geometric Analysis of Overconstrained Parallel Manipulators With Three and Four Degrees of Freedom,” JSME Int. J. Ser. C, 45(3), pp. 730–740. [CrossRef]
Company, O., Marquet, F., and Pierrot, F., 2003, “A New High Speed 4-DOF Parallel Robot Synthesis and Modeling Issues,” IEEE Trans. Rob. Autom., 19(3), pp. 411–420. [CrossRef]
Kong, X., and Gosselin, C. M., 2004, “Type Synthesis of 3T1R 4-DOF Parallel Manipulators Based on Screw Theory,” IEEE Trans. Rob. Autom., 20(2), pp. 181–190. [CrossRef]
Li, Q.-C., and Huang, Z., 2004, “Mobility Analysis of a Novel 3-5R Parallel Mechanism Family,” ASME J. Mech. Des., 126(1), pp. 79–82. [CrossRef]
Zhao, T. S., Li, Y. W., Chen, J., and Wang, J. C., 2006, “Novel Four-DOF Parallel Manipulator Mechanism and Its Kinematics,” IEEE Conference on Robotics, Automation and Mechatronics (RAM), Bangkok, Thailand, June 1–3. [CrossRef]
Gogu, G., 2007, “Structural Synthesis of Fully Isotropic Parallel Robots With Schoenflies Motions Via Theory of Linear Transformations and Evolutionary Morphology,” Eur. J. Mech. A/Solids, 26(2), pp. 242–269. [CrossRef]
Amine, S., Caro, S., Wenger, P., and Kanaan, D., 2012, “Singularity Analysis of the H4 Robot Using Grassmann–Cayley Algebra,” Robotica, 30(7), pp. 1109–1118. [CrossRef]
Amine, S., Tale-Masouleh, M., Caro, S., Wenger, P., and Gosselin, C., 2012, “Singularity Conditions of 3T1R Parallel Manipulators With Identical Limb Structures,” ASME J. Mech. Rob., 4(1), p. 011011. [CrossRef]
Solazzi, M., Gabardi, M., Frisoli, A., and Bergamasco, M., 2014, “Kinematics Analysis and Singularity Loci of a 4-UPU Parallel Manipulator,” Advances in Robot Kinematics, J.Lenarçic and O.Khatib, eds., Springer, Cham, Switerzland, pp. 467–474.
Schadlbauer, J., Walter, D. R., and Husty, M. L., 2014, “The 3-RPS Parallel Manipulator From an Algebraic Viewpoint,” Mech. Mach. Theory, 75, pp. 161–176. [CrossRef]
Zhao, J., Feng, Z., Chu, F., and Ma, N., 2013, Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms, Academic Press, Waltham, MA.
Husty, M. L., Schadlbauer, J., Caro, S., and Wenger, P., 2012, “Self-Motions of 3-RPS Manipulators,” New Trends in Mechanism and Machine Science, Theory and Application in Engineering (Mechanism and Machine Science, Vol. 7), F.Viadero, and M.Ceccarelli, eds., Springer-Verlag, Dordrecht, The Netherlands, pp. 121–130.

Figures

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

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In