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Research Papers

A New Parallel Manipulator With Multiple Operation Modes

[+] Author and Article Information
Jaime Gallardo-Alvarado

Department of Mechanical Engineering,
Instituto Tecnológico de Celaya,
TecNM,
Celaya 38010, Guanajuato, Mexico
e-mail: jaime.gallardo@itcelaya.edu.mx

Ramon Rodriguez-Castro

Department of Mechanical Engineering,
Instituto Tecnológico de Celaya,
TecNM,
Celaya 38010, Guanajuato, Mexico
e-mail: ramon.rodriguez@itcelaya.edu.mx

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 13, 2018; final manuscript received June 22, 2018; published online July 18, 2018. Assoc. Editor: Raffaele Di Gregorio.

J. Mechanisms Robotics 10(5), 051012 (Jul 18, 2018) (9 pages) Paper No: JMR-18-1066; doi: 10.1115/1.4040702 History: Received March 13, 2018; Revised June 22, 2018

In this work, a new parallel manipulator with multiple operation modes is introduced. The proposed robot is based on a three-degrees-of-freedom (3DOF) parallel manipulator endowed with a three-dof central kinematic chain, where by blocking some specific kinematic pairs, the robot can modify its mobility. Hence, the robot manipulator is able to assume the role of a limited-dof or a nonredundant parallel manipulator. Without loss of generality, the instantaneous kinematics of one member of the family of parallel manipulators generated by the reconfigurable parallel manipulator, the three-RPRRC + RRPRU nonredundant parallel manipulator with decoupled motions, is approached by means of the theory of screws. For the sake of completeness, the finite kinematics of the robot is also investigated. Numerical examples are included with the purpose to clarify the method of kinematic analysis.

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Figures

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Fig. 1

The reconfigurable parallel manipulator

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Fig. 2

Geometry of the three-RPRRC + RRPRU parallel manipulator

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Fig. 3

Example 1: generalized coordinates and their time derivatives

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Fig. 4

Example 1: kinematics of the center of the moving platform

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Fig. 5

Example 2: generalized coordinates and their time derivatives

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Fig. 6

Example 2: kinematics of the moving platform

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Fig. 7

Example 3. Kinematics of the center of the moving platform.

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Fig. 8

Example 3: loss mobility of the parallel manipulator

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