Extra Modes of Operation and Self-Motions in Manipulators Designed for Schoenflies Motion

被引：18
|
作者：
Coste, Michel [1 ]
Demdah, Kartoue Mady [2 ]
机构：
[1] Univ Rennes 1, IRMAR CNRS UMR 6625, F-35042 Rennes, France
[2] Univ NDjamena, Dept Math, Ndjamena, Chad
来源：
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2015年 / 7卷 / 04期
关键词：
parallel manipulators; Schoenflies motion; mode of operation; self-motion; PARALLEL MANIPULATORS;
D O I：
10.1115/1.4029501
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
We study 4-universal-prismatic-universal (UPU) parallel manipulators performing Schoenflies motion and show that they can have extra modes of operation with three degrees of freedom (3DOF), depending on the geometric parameters of the manipulators. We show that the transition between the different modes occurs along self-motion of the manipulator in the Schoenflies mode.
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页数：6
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