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research-article

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, Gto. 38010, Mexico
jaime.gallardo@itcelaya.edu.mx

Ramon Rodriguez-Castro

Department of Mechanical Engineering, Instituto Tecnológico de Celaya, TecNM, Celaya, Gto. 38010, Mexico
ramon.rodriguez@itcelaya.edu.mx

1Corresponding author.

ASME doi:10.1115/1.4040702 History: Received March 13, 2018; Revised June 22, 2018

Abstract

In this work a new parallel manipulator with multiple operation modes is introduced. The proposed robot is based on a 3-dof parallel manipulator endowed with a 3-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 non-redundant 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 3-RPRRC+RRPRU non-redundant 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.

Copyright (c) 2018 by ASME
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