Reconfiguration Analysis of a Class of 4-Dof 3-Rer Parallel Manipulator

Xianwen Kong

《Proceedings of the 14th IFToMM World Congress》 14th-1 (2015/10) Pp. 305-312

https://doi.org/10.6567/IFToMM.14TH.WC.OS2.024

並列摘要

This paper deals with the reconfiguration analysis of a 4-DOF 3-RER parallel manipulator (PM), which is a special case of PMs used for generating 4-DOF 3T1R motion in the literature. At first, a set of constraint equations of the 3-RER PM with ETBP (equilateral triangular base and platform) is derived with the orientation of the moving platform represented using a Euler parameter quaternion (also Euler-Rodrigues quaternion) and then solved using the algebraic geometry method. It is found that the 3-RER PM with ETBP has three 4-DOF operation modes if both the base and platform are identical or two 4-DOF operation modes if the base and platform are not identical. The motion characteristics of the moving platform are obtained using the kinematic interpretation of Euler parameter quaternions with certain number of constant zero components, which was presented in a recent paper by the author of this paper, instead of the eigenspace based approach in the literature. The transition configurations among different operation modes are also presented.

並列關鍵字

Parallel manipulator with multiple operation modes ； Quaternion ； Euler parameter ； Singularity ； Algebraic geometry