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2018•Journal of Mechanisms and RoboticsRequires access

A New Parallel Manipulator With Multiple Operation Modes

Jaime Gallardo-Alvarado, Ramón Rodríguez-Castro

Open publisher page 7 citations

Abstract

In this work, a new parallel manipulator with multiple operation modes is introduced. The proposed robot is based on a three-degrees-of-freedom (3DOF) parallel manipulator endowed with a three-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 nonredundant 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 three-RPRRC + RRPRU nonredundant 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.

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What this paper is about

In this work, a new parallel manipulator with multiple operation modes is introduced. The proposed robot is based on a three-degrees-of-freedom (3DOF) parallel manipulator endowed with a three-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 nonredundant 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 three-RPRRC + RRPRU nonredundant 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.

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OpenAlex reports 7 citations for this work. Citation counts describe recorded attention and do not establish research quality.

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Available abstract

In this work, a new parallel manipulator with multiple operation modes is introduced. The proposed robot is based on a three-degrees-of-freedom (3DOF) parallel manipulator endowed with a three-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 nonredundant 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 three-RPRRC + RRPRU nonredundant 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.

Key concepts: Parallel manipulator, Kinematics, Control theory (sociology), Kinematic chain, Serial manipulator, Computer science, Robot kinematics, Screw theory

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