Abstract
This paper deals with the operation modes analysis of a 4-CRU parallel mechanism for 3D printing building as a new technology for constructing the sustainable houses. The analysis is based upon an algebraic approach, namely the Euler parameters quaternion and primary decomposition. The 4-CRU parallel mechanism is composed of rectangular base and platform that are connected by four identical CRU legs. Each leg consists of cylindrical (C), revolute (R) and universal (U) joints. Dimensions of rectangular base and platform are the design parameters and can be varied. Initially, the parallel mechanism is described by a set of four constraint equations that define the motion of CRU legs. Then the primary decomposition is computed over a set of constraint equations and it turns out that the 4-CRU parallel mechanism has three distinct operation modes, namely the Schönflies mode, the reversed Schönflies mode and additional modes. The Degree-Of-Freedom (DOF) of the additional mode can be either 4-DOF or even degenerate into 3-DOF, depending on the ratio of the platform to the base. This additional mode is also a transition mode for the mechanism to switch from the Schönflies mode to the reversed Schönflies mode, and vice versa. This condition makes the 4-CRU parallel mechanism become reconfigurable manipulator as long as the additional modes exist. A mock-up of 4-CRU parallel mechanism has been fabricated to depict the Schönflies mode, the reversed Schönflies mode and the additional modes performed by the moving platform.
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Acknowledgements
This work was supported by the Royal Academy of Engineering under the Industry Academia Partnership Programme—17/18 scheme, Grant No. IAPP1\(\setminus \)100109.
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Putrayudanto, P., Nurahmi, L., Wei, G. (2021). Multi Operation Modes of 4-CRU Parallel Mechanism For 3D-Printing Building. In: Sen, D., Mohan, S., Ananthasuresh, G. (eds) Mechanism and Machine Science. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-4477-4_1
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DOI: https://doi.org/10.1007/978-981-15-4477-4_1
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