Operation mode analysis of a 4-DOF n-RER parallel manipulator with three operation modes

  • Xianwen KongEmail author
  • Yan-An Yao
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper proposes a 4-DOF (degrees-of-freedom) n-RER parallel manipulator (PM) with congruent base and moving platform (CBP). The 4-DOF n-RER PM is composed of a base and a moving platform connected by n RER legs, each of which is a serial kinematic chain composed of a revolute (R) joint, a planar (E) joint and an R joint in sequence. At first, a set of constraint equations of the n-RER PM with CBP is first derived. It is then found that like the 3-RER PM with congruent triangular base and platform in the literature, the n-RER PM with CBP has three 4-DOF operation modes regardless of the number of legs (n > 2) and link parameters. The characteristics of the n-RER PM with CBP in different operation modes are also presented.


Parallel manipulator Operation mode Quaternion Euler parameters Overconstrained mechanism 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Heriot-Watt UniversityEdinburghUK
  2. 2.Beijing Jiaotong UniversityBeijingChina

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