Operation modes and workspace of a 4-rRUU Parallel Manipulator

  • Abhilash NayakEmail author
  • Stéphane Caro
  • Philippe Wenger
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


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.


parallel manipulator dual reconfigurable 4-RUU operation modes workspace 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Abhilash Nayak
    • 1
    Email author
  • Stéphane Caro
    • 2
  • Philippe Wenger
    • 2
  1. 1.Centrale Nantes, Laboratoire des Sciences du Numerique de Nantes (LS2N)NantesFrance
  2. 2.CNRS, Laboratoire des Sciences du Numerique de Nantes (LS2N)NantesFrance

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