Operation modes and self-motions of a 2-RUU parallel manipulator

Latifah Nurahmi, Stéphane Caro*, Philippe Wenger

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Citations (Scopus)


This paper deals with the characterization of the operation modes of the 2-RUU parallel manipulator with an algebraic approach, namely the Study kinematic mapping of the Euclidean group SE(3). The manipulator is described by a set of eight constraint equations and the primary decomposition reveals that the mechanism has three operation modes. The singularity conditions are obtained by deriving the determinant of the Jacobian matrix of the constraint equations with respect to the Study parameters. It is shown that there exist singular configurations in which the 2-RUU manipulator may switch from one operation mode to another operation mode. All the singular configurations are mapped onto the joint space and are geometrically interpreted. Finally, the mechanism may switch from the 1st Schönflies mode to the 2nd Schönflies mode through the additional mode that contains self-motions.

Original languageEnglish
Title of host publicationRecent Advances in Mechanism Design for Robotics - Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015
EditorsMarco Ceccarelli, Shaoping Bai
PublisherKluwer Academic Publishers
Number of pages10
ISBN (Print)9783319181257
Publication statusPublished - 2015
Externally publishedYes
Event3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015 - Aalborg, Denmark
Duration: 2 Jun 20154 Jun 2015

Publication series

NameMechanisms and Machine Science
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992


Conference3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015


  • 2-RUU manipulator
  • Operation mode
  • Schönflies motion
  • Self-motion
  • Study parameters


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