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Open AccessArticle

Reconfiguration Analysis of a 3-DOF Parallel Mechanism

Department of Mechanical, Chemical and Materials Engineering, University of Cagliari, Piazza d’Armi, 09123 Cagliari, Italy
School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AS, UK
Author to whom correspondence should be addressed.
Robotics 2019, 8(3), 66;
Received: 25 June 2019 / Revised: 31 July 2019 / Accepted: 1 August 2019 / Published: 2 August 2019
(This article belongs to the Special Issue Kinematics and Robot Design II, KaRD2019)
This paper deals with the reconfiguration analysis of a 3-DOF (degrees-of-freedom) parallel manipulator (PM) which belongs to the cylindrical parallel mechanisms family. The PM is composed of a base and a moving platform shaped as equilateral triangles connected by three serial kinematic chains (legs). Two legs are composed of two universal (U) joints connected by a prismatic (P) joint. The third leg is composed of a revolute (R) joint connected to the base, a prismatic joint and universal joint in sequence. A set of constraint equations of the 1-RPU−2-UPU PM is derived and solved in terms of the Euler parameter quaternion (a.k.a. Euler-Rodrigues quaternion) representing the orientation of the moving platform and of the Cartesian coordinates of the reference point on the moving platform. It is found that the PM may undergo either the 3-DOF PPR or the 3-DOF planar operation mode only when the base and the moving platform are identical. The transition configuration between the operation modes is also identified. View Full-Text
Keywords: mobility; multi-mode parallel manipulator; quaternion; Euler parameters mobility; multi-mode parallel manipulator; quaternion; Euler parameters
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Ruggiu, M.; Kong, X. Reconfiguration Analysis of a 3-DOF Parallel Mechanism. Robotics 2019, 8, 66.

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