Operation modes and workspace of a 4-rRUU Parallel Manipulator
A lower-mobility parallel manipulator with multiple operation modes can be considered as inherently reconfigurable. This is the case for 4-RUU parallel manipulators that have three different operation modes. Allowing the first revolute joint axis to have any horizontal orientation leads to a dual reconfigurable 4-rRUU mechanism. This paper presents an interpolation approach to determine its operation modes as functions of the orientation of its base revolute joint axes. Furthermore, its limb singularities are characterized by differentiating the constraint equations with respect to the actuated joint variables which are further used to visualize its translational workspace for three mutually perpen- dicular orientations of its base revolute joint axes.
Keywordsparallel manipulator dual reconfigurable 4-RUU operation modes workspace
Unable to display preview. Download preview PDF.
- 1.Dimiter Zlatanov, Ilian A. Bonev, and Cl´ement M. Gosselin. Constraint Singularities as C-Space Singularities, pages 183–192. Springer Netherlands, Dordrecht, 2002.Google Scholar
- 2.Dominic R Walter, Manfred L Husty, and Martin Pfurner. A complete kinematic analysis of the SNU 3-UPU parallel robot. Contemporary Mathematics, 496:331, 2009.Google Scholar
- 3.Dominic R Walter and Manfred L Husty. Kinematic analysis of the TSAI 3-UPU parallel manipulator using algebraic methods. In The 13th IFToMMWorld Congress in Mechanism and Machine Science, Guanajuato, Mexico, pages 1–10, 2011.Google Scholar
- 4.J. Schadlbauer, D.R. Walter, M.L. Husty, J. Schadlbauer, D.R. Walter, and M.L. Husty. The 3-rps parallel manipulator from an algebraic viewpoint. Mechanism and Machine Theory, 75(Complete):161–176, 2014.Google Scholar
- 5.Latifah Nurahmi, St´ephane Caro, Philippe Wenger, Josef Schadlbauer, and Manfred Husty. Reconfiguration analysis of a 4-RUU parallel manipulator. Mechanism and Machine Theory, 96:269–289, 2016.Google Scholar
- 6.Abhilash Nayak, St´ephane Caro, and Philippe Wenger. A Dual Reconfigurable 4-rRUU Parallel Manipulator. In The 4th IEEE/IFToMM International conference on Reconfigurable Mechanisms and Robots (ReMAR2018), Delft, Netherlands, June 2018.Google Scholar
- 7.David A. Cox, John Little, and Donal O’Shea. Ideals, Varieties, and Algorithms: An Introduction to Computational Algebraic Geometry and Commutative Algebra. Springer, 3rd edition, 2007.Google Scholar
- 8.C. Gosselin and J. Angeles. Singularity analysis of closed-loop kinematic chains. IEEE Transactions on Robotics and Automation, 6(3):281–290, June 1990.Google Scholar
- 9.Thomas Stigger, Martin Pfurner, and Manfred Husty. Workspace and singularity analysis of a 3-RUU parallel manipulator. In Burkhard Corves, Philippe Wenger, and Mathias Hu¨sing, editors, EuCoMeS 2018, pages 325–332, Cham, 2019. Springer International Publishing.Google Scholar
- 10.David H. Eberly. Chapter 15 - intersection methods. In David H. Eberly, editor, 3D Game Engine Design (Second Edition), The Morgan Kaufmann Series in Interactive 3D Technology, pages 681 – 717. Morgan Kaufmann, San Francisco, second edition edition, 2007.Google Scholar