@inproceedings{4a3df79e35eb4e03ba0affea113c45a8,
title = "Operation Mode and Workspace of a 3-rRPS Metamorphic Parallel Mechanism with a Reconfigurable Revolute Joint",
abstract = "The 3-rRPS metamorphic parallel mechanism discussed in this paper consists of three rRPS legs in which (rR) joint is reconfigurable. The reconfigurable (rR) joint allows the moving platform to perform different operation modes. Therefore, this paper deals with the characterization of operation mode and workspace of the 3-rRPS metamorphic parallel mechanism by using algebraic geometry approach and Euler parametrization. Two distinct configurations of the mechanism are initially defined based on the value of joint angle parameters, i.e. φ and θ. The set of constraint equations is derived and the primary decomposition is computed. It reveals that the 3-rRPS metamorphic parallel mechanism with certain configuration can have one up to two operation modes. The moving platform can also perform 3-dof coupled rotational motions, 3-do f planar motion and 1T2R motion. All operation modes under different configurations are analysed and geometrically interpreted. When the mechanism is in 3-dof coupled rotational motions, the workspace of the geometric center of the moving platform is bounded by a Steiner surface. The shape of this surface changes depending on the value of joint parameter angle φ.",
author = "Latifah Nurahmi and Dongming Gan",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 ; Conference date: 20-06-2018 Through 22-06-2018",
year = "2018",
month = aug,
day = "28",
doi = "10.1109/REMAR.2018.8449879",
language = "English",
isbn = "9781538663806",
series = "2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
editor = "Herder, \{Just L.\} and \{van der Wijk\}, Volkert",
booktitle = "2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings",
address = "United States",
}