Operation modes in lower-mobility parallel manipulators

Josef Schadlbauer; Latifah Nurahmi; Manfred Husty; Philippe Wenger; Stéphane Caro

doi:10.1007/978-3-319-10723-3_1

Operation modes in lower-mobility parallel manipulators

Josef Schadlbauer, Latifah Nurahmi, Manfred Husty, Philippe Wenger^*, Stéphane Caro

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

14 Citations (Scopus)

Abstract

This paper discusses the notion of operationmode in parallelmanipulators with less than six dof. This notion has been reported recently in several papers but the physical meaning of an operation mode is not always clear. Indeed, even if in some cases an operation mode can be associated with an understandable motion type e.g., three pure translations or a spherical motion, in some other cases, such an association is not straightforward. Therefore, the axodes are used in this paper to characterize any operation mode of lower-mobility parallel manipulators. A 3-RPS manipulator is used as an illustrative example. This manipulator is special because one can parameterize its operation modes.

Original language	English
Title of host publication	Interdisciplinary Applications of Kinematics - Proceedings of the International Conference
Editors	Andrés Kecskeméthy, Francisco Geu Flores
Publisher	Kluwer Academic Publishers
Pages	1-9
Number of pages	9
ISBN (Electronic)	9783319107226
DOIs	https://doi.org/10.1007/978-3-319-10723-3_1
Publication status	Published - 2015
Externally published	Yes
Event	2nd International Conference on Interdisciplinary Applications in Kinematics, 2013 - Lima, Peru Duration: 9 Sept 2013 → 11 Sept 2013

Publication series

Name	Mechanisms and Machine Science
Volume	26
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	2nd International Conference on Interdisciplinary Applications in Kinematics, 2013
Country/Territory	Peru
City	Lima
Period	9/09/13 → 11/09/13

Keywords

Lower-mobility
Operation modes
Parallel manipulators

Access to Document

10.1007/978-3-319-10723-3_1

Cite this

Schadlbauer, J., Nurahmi, L., Husty, M., Wenger, P., & Caro, S. (2015). Operation modes in lower-mobility parallel manipulators. In A. Kecskeméthy, & F. G. Flores (Eds.), Interdisciplinary Applications of Kinematics - Proceedings of the International Conference (pp. 1-9). (Mechanisms and Machine Science; Vol. 26). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-10723-3_1

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Schadlbauer, J, Nurahmi, L, Husty, M, Wenger, P & Caro, S 2015, Operation modes in lower-mobility parallel manipulators. in A Kecskeméthy & FG Flores (eds), Interdisciplinary Applications of Kinematics - Proceedings of the International Conference. Mechanisms and Machine Science, vol. 26, Kluwer Academic Publishers, pp. 1-9, 2nd International Conference on Interdisciplinary Applications in Kinematics, 2013, Lima, Peru, 9/09/13. https://doi.org/10.1007/978-3-319-10723-3_1

Operation modes in lower-mobility parallel manipulators. / Schadlbauer, Josef; Nurahmi, Latifah; Husty, Manfred et al.
Interdisciplinary Applications of Kinematics - Proceedings of the International Conference. ed. / Andrés Kecskeméthy; Francisco Geu Flores. Kluwer Academic Publishers, 2015. p. 1-9 (Mechanisms and Machine Science; Vol. 26).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Nurahmi, Latifah

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N1 - Publisher Copyright: © Springer International Publishing Switzerland 2015.

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N2 - This paper discusses the notion of operationmode in parallelmanipulators with less than six dof. This notion has been reported recently in several papers but the physical meaning of an operation mode is not always clear. Indeed, even if in some cases an operation mode can be associated with an understandable motion type e.g., three pure translations or a spherical motion, in some other cases, such an association is not straightforward. Therefore, the axodes are used in this paper to characterize any operation mode of lower-mobility parallel manipulators. A 3-RPS manipulator is used as an illustrative example. This manipulator is special because one can parameterize its operation modes.

AB - This paper discusses the notion of operationmode in parallelmanipulators with less than six dof. This notion has been reported recently in several papers but the physical meaning of an operation mode is not always clear. Indeed, even if in some cases an operation mode can be associated with an understandable motion type e.g., three pure translations or a spherical motion, in some other cases, such an association is not straightforward. Therefore, the axodes are used in this paper to characterize any operation mode of lower-mobility parallel manipulators. A 3-RPS manipulator is used as an illustrative example. This manipulator is special because one can parameterize its operation modes.

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Operation modes in lower-mobility parallel manipulators

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